I dont know about the waiver (maybe thats on the military side), I guess talk with the recruiter about that. When I deal with these in terms of dealing with the court.. You will need to have your fines paid off, everything done, and have your probation terminated. (presuming you are still on court probation/conditional sentence - typically 3-5 years after conviction.) There is a form to do this in laymans terms call "an expungment"... but the form is a Dismissal 1203.4/1203.4a form. The form is standard and available from the Judicial council. I would wait to talk with your recruiter because they can help you and they may write a letter or someother method of advocating for you to get the judge to discharge you early.
Some courts charge a fee. if you cant afford court fees (i'm not talking about fines, a filing fee) ask for a waiver.