Revert "util: change util.inspect depth default"

This reverts commit ac7450a0.

It has caused breakage in logging to existing apps, and even something as simple as console.log(require) will cause >1m freezes.

I've heard nothing but negative feedback (seriously not a single person has expressed anything positive about this change) and personally i find this change extremely annoying while debugging.

cc @nodejs/util

Checklist

• make -j4 test (UNIX), or vcbuild test (Windows) passes
• tests and/or benchmarks are included
• documentation is changed or added
• commit message follows commit guidelines