Update submodules to the latest versions

Also update the default branch on .gitmodules

.gitmodules

 [submodule "lcd-domains/libcap"]
 	path = lcd-domains/libcap
 	url = git@gitlab.flux.utah.edu:xcap/libcap.git
+	branch = lcd
 [submodule "lcd-domains/libasync"]
 	path = lcd-domains/libasync
 	url = git@gitlab.flux.utah.edu:xcap/xcap-async-module.git
+	branch = one_slot

libasync @ 02123f67

-Subproject commit 58432a5225b4c53bc670f92895a1926d93110083
+Subproject commit 02123f67160fc6411b6a4cac87c68750535bdbf4

libcap @ 15973580

-Subproject commit 56deb16191e604464c1cafd07cecdce95d3e97c5
+Subproject commit 159735805b250993062dea3deab1cc3ae03b4be6