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The shell is interpreting the & in the URL as a command separator. See how each of these are interpreted as separate background commands:

[1]   Done                    /usr/bin/cfn-signal -e 0 http://152.148.165.80:8000/v1/waitcondition//arn%3Aopenstack%3Aheat%3A%3A782fc66f9e654fc887ff8c41f0539125%3Astacks%2Fh01%2F92dc4efb-2372-4f09-93cf-79cd6efbc69c%2Fresources%2Ffirst_wait_handle?Timestamp=2014-07-22T13%3A41%3A49Z
[2]   Done                    SignatureMethod=HmacSHA256
[3]-  Done                    AWSAccessKeyId=656537dd84064705a73a8e9bb9c5dd60
[4]+  Done                    SignatureVersion=2

You need to quote the URL:

/usr/bin/cfn-signal -s true '$wait_handle'

or:

/usr/bin/cfn-signal -e 0 'http://152.148.165.80:8000/v1/waitcondition//arn%3Aopenstack%3Aheat%3A%3A782fc66f9e654fc887ff8c41f0539125%3Astacks%2Fh01%2F92dc4efb-2372-4f09-93cf-79cd6efbc69c%2Fresources%2Ffirst_wait_handle?Timestamp=2014-07-22T13%3A41%3A49Z&SignatureMethod=HmacSHA256&AWSAccessKeyId=656537dd84064705a73a8e9bb9c5dd60&SignatureVersion=2&Signature=fXdSTNue0kH8OCjAdU%2BGR72uQacMIsgA7sjWImDegw8%3D'