Hi @minskim88
We’re testing to see if the issues you’re having are related to the problems found in this pull request. Assuming you’re using standard 32bit BlueOS, this ArduSub firmware file attached here can be flashed from file under autopilot firmware.
ardusub_udpfix_32bits (2.2 MB)
In order to upload it I added a .txt extension, remove this before selecting it to flash!
Please let us know if this changes your results