Re: [w3c/ServiceWorker] navigate() behavior in browsers for file:/// and mixed content does not match spec (#1500)

I think we should reject if the URL cannot be parsed, but otherwise we just resolve with undefined if the navigation ends in a network error. Iframes don't 'error' in these situations, so we shouldn't either.

I propose:

* Remove step 2 of https://w3c.github.io/ServiceWorker/#client-navigate which prevents `about:blank` as a value.
* Change `about:blank` test so it's expected to resolve with undefined rather than reject.
* Update tests so navigate only throws if the client's service worker isn't this service worker, if the url is invalid, or document has been discarded.

@wanderview @asutherland @jungkees @matto @youennf any objections?

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