You have set Zookeeper as the recovery mode but I think you forgot to set the URL for Zookeeper to connect to. When you set Zookeeper for recovery, you also need to mention the Zookeeper's URL that the Spark application should connect to when it needs to make the recovery. Use the below command and replace <URL> with your Zookeeper's URL:
val sc = new SparkContext(new SparkConf())
./bin/spark-submit <all your existing options> --spark.deploy.zookeeper.url=<URL>