[SPARK-2849] Handle driver configs separately in client mode

In client deploy mode, the driver is launched from within `SparkSubmit`'s JVM. This means by the time we parse Spark configs from `spark-defaults.conf`, it is already too late to control certain properties of the driver's JVM. We currently ignore these configs in client mode altogether.
```
spark.driver.memory
spark.driver.extraJavaOptions
spark.driver.extraClassPath
spark.driver.extraLibraryPath
```
This PR handles these properties before launching the driver JVM. It achieves this by spawning a separate JVM that runs a new class called `SparkSubmitDriverBootstrapper`, which spawns `SparkSubmit` as a sub-process with the appropriate classpath, library paths, java opts and memory.