imu_um6 Read Pkt: BAD CHECKSUM

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When I launch imu_um6 I get the following return activity (see below). I found the document (http://mediabox.grasp.upenn.edu/roswiki/doc/api/imu_um6/html/driver_8py_source.html) that shows:

00045     CMD_BAD_CHECKSUM     = 0xFD # sent by UM6 when it receives corrupted pkt

I looked at the list of expected settings:

00009     NOTE: this driver expects a number of things to be true:
00010     1. Broadcast mode is enabled
00011     2. QUATERNION output is enabled
00012     2. EULER output is enabled
00013     2. ANGULAR VELOCITY output is enabled
00014     2. LINEAR ACCEL output is enabled

But I can't find Angular Velocity or Linear Accel to verify/change setting to see if this may be the issue.

What do I need to do to find these missing settings, and what else do I need to try to eliminate the BAD CHECKSUM error?

srv1bf537@ubuntu:~$ source ~/imu_drivers/setup.bash
srv1bf537@ubuntu:~$ roslaunch imu_um6 test.launch
... logging to /home/srv1bf537/.ros/log/808547c6-e429-11e1-a5c4-002710017b98/roslaunch-ubuntu-6629.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://ubuntu:54444/


SUMMARY
========

PARAMETERS
 * /imu_um6_node/port
 * /rosdistro
 * /rosversion

NODES
  /
    imu_pose (imu_um6/imu_pose.py)
    imu_tf (tf/static_transform_publisher)
    imu_um6_node (imu_um6/imu_um6_node.py)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [6645]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 808547c6-e429-11e1-a5c4-002710017b98
process[rosout-1]: started with pid [6658]
started core service [/rosout]
process[imu_um6_node-2]: started with pid [6670]
process[imu_tf-3]: started with pid [6671]
process[imu_pose-4]: started with pid [6683]
process[rviz-5]: started with pid [6684]
[INFO] [WallTime: 1344740270.811852] serial port: /dev/ttyUSB0
[INFO] [WallTime: 1344740270.843230] Zero Gyros: True
[INFO] [WallTime: 1344740270.843485] Reset EKF: True
[INFO] [WallTime: 1344740270.843704] Set Magnetometer Reference: True
[INFO] [WallTime: 1344740270.843923] Set Accelerometer Reference: True
Read Pkt: BAD CHECKSUM
Read Pkt: BAD CHECKSUM
Read Pkt: BAD CHECKSUM
Read Pkt: BAD CHECKSUM
Read Pkt: BAD CHECKSUM
Read Pkt: BAD CHECKSUM
Read Pkt: BAD CHECKSUM
Read Pkt: BAD CHECKSUM
Read Pkt: BAD CHECKSUM