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It looks like on your system you have not setup the appropriate commands that need to be run when onboarding the device. IE you need to enter the correct commands to be executed inside the OnboardingService.conf file:

 ...
  <scan_file>/tmp/wifi_scan_results</scan_file>
  <error_file>/tmp/state/alljoyn-onboarding-lasterror</error_file>
  <state_file>/tmp/state/alljoyn-onboarding</state_file>
  <connect_cmd>/etc/init.d/alljoyn-onboarding connect</connect_cmd>
  <offboard_cmd>/etc/init.d/alljoyn-onboarding offboard</offboard_cmd>
  <configure_cmd>/etc/init.d/alljoyn-onboarding configure %s %s %s</configure_cmd>
  <scan_cmd>/usr/sbin/wifi_scan</scan_cmd>
 ...

Once you have these commands correct, then you should be able to have the experience you want of the device disconnecting and connecting to the supplied AP credentials.