i had same message on my 7010bt yesterday after trying to mess with it in TESTMODE
Did not know what to do, the unit would reboot every 3 minutes and everytime it had same message, would not let me go to GPS menu
I checked my Software version it was 2.00000, yours is newer so i do not know if it will work
Then i downloaded software update from Pioneer website 2.006000, put the sd card in the unit run the update, Thanks god the message dissapeared and the unit is working fine
It might not work for you since you have newer version
