Gyro and Odometry Calibration Not Effective?

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I have a turtlebot, which was obtained assembled from Clearpath Robotics. I have been trying to run the Gyro and Odometry Calibration, and have been getting fairly large corrections for the gyro scale correction multiplier. To test these results, I have been setting the corrections with rosparams, and then re-running the calibration. I expect that on the next run, the corrections multiplier will be closer to 1.0, but it always remains in the range of 1.25-1.5 . The raw gyro value from the dashboard is about 509, and seems to vary appropriately when the robot is manually twisted. Any ideas?

Here is what typical run looks like for me:

turtlebot@turtlebot-0284:~$ rosparam set /turtlebot_node/gyro_scale_correction 1.43
turtlebot@turtlebot-0284:~$ rosparam set /turtlebot_node/odom_angular_scale_correction .943
turtlebot@turtlebot-0284:~$ roslaunch turtlebot_calibration calibrate.launch
... logging to /home/turtlebot/.ros/log/ce9563ee-ff80-11e0-947c-485d60755842/roslaunch-turtlebot-0284-2218.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.12.151:41995/

SUMMARY
========

PARAMETERS
 * /openni_camera/depth_time_offset
 * /openni_camera/image_mode
 * /kinect_laser/output_frame_id
 * /openni_camera/depth_rgb_translation
 * /pointcloud_throttle/max_rate
 * /openni_camera/depth_mode
 * /openni_camera/shift_offset
 * /scan_to_angle/min_angle
 * /kinect_laser/min_height
 * /openni_camera/depth_rgb_rotation
 * /kinect_laser_narrow/max_height
 * /scan_to_angle/max_angle
 * /kinect_laser/max_height
 * /rosdistro
 * /openni_camera/projector_depth_baseline
 * /kinect_laser_narrow/output_frame_id
 * /rosversion
 * /openni_camera/debayering
 * /openni_camera/depth_frame_id
 * /openni_camera/image_time_offset
 * /openni_camera/depth_registration
 * /kinect_laser_narrow/min_height
 * /openni_camera/rgb_frame_id

NODES
  /
    kinect_breaker_enabler (turtlebot_node/kinect_breaker_enabler.py)
    openni_manager (nodelet/nodelet)
    openni_camera (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)
    scan_to_angle (turtlebot_calibration/scan_to_angle.py)
    turtlebot_calibration (turtlebot_calibration/calibrate.py)

ROS_MASTER_URI=http://10.0.12.151:11311

core service [/rosout] found
process[kinect_breaker_enabler-1]: started with pid [2240]
process[openni_manager-2]: started with pid [2241]
process[openni_camera-3]: started with pid [2242]
process[pointcloud_throttle-4]: started with pid [2243]
process[kinect_laser-5]: started with pid [2245]
process[kinect_laser_narrow-6]: started with pid [2252]
process[scan_to_angle-7]: started with pid [2254]
process[turtlebot_calibration-8]: started with pid [2269]
[INFO] [WallTime: 1319602903.535752] has_gyro True
[INFO] [WallTime: 1319602903.646246] Estimating imu drift
[INFO] [WallTime: 1319602903.947774] Still waiting for imu
[INFO] [WallTime: 1319602904.249399] Still waiting for scan
[INFO] [WallTime: 1319602904.551117] Still waiting for scan
[kinect_breaker_enabler-1] process has finished cleanly.
log file: /home/turtlebot/.ros/log/ce9563ee-ff80-11e0-947c-485d60755842/kinect_breaker_enabler-1*.log
[INFO] [WallTime: 1319602904.853371] Still waiting for scan
[INFO] [WallTime: 1319602905.154970] Still waiting for scan
[ INFO] [1319602905.218424205]: [/openni_camera] Number devices connected: 1
[ INFO] [1319602905.219076453]: [/openni_camera] 1. device on bus 001:14 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00362A03027048A'
[ WARN] [1319602905.222852677]: [/openni_camera] device_id is not set! Using first device.
[ INFO] [1319602905.275323325]: [/openni_camera] Opened 'Xbox NUI Camera' on bus 1:14 with serial number 'A00362A03027048A'
[ INFO] [1319602905.321096537]: rgb_frame_id = 'kinect_rgb_optical_frame' 
[ INFO] [1319602905.327575678]: depth_frame_id = 'kinect_depth_optical_frame' 
[INFO] [WallTime: 1319602905.456490] Still waiting for scan
[INFO] [WallTime: 1319602905.758331] Still waiting for scan
[INFO] [WallTime: 1319602906.061055] Still waiting for scan
[INFO] [WallTime: 1319602906.362886] Still waiting for scan
[INFO] [WallTime: 1319602906.664503] Still waiting for scan
[INFO] [WallTime: 1319602917.274803] Still waiting for imu
[INFO] [WallTime: 1319602917.577144] Still waiting for scan
[INFO] [WallTime: 1319602917 ...