Embedded Motion Driver 5.1 - register definitions

Is there an update of the register definitions for the 6050? I have rev 4.0 dated 3/9/2012.
The SLEEP bit function in PWR_MGMT_1 seems to be inverted. Also, monitoring the I2C init stream from the EV_ARM eval board to the MPU-6050 EVB shows it writing 0x71 to the PWR_MGMT_1 register. Bit 4 is not defined in the document.
Also, if I write data to the dmp memory with PWR_MGMT_1 set to 0x00, the readback verify fails.

I am trying to implement the embedded motiondriver 5.1 in an msp430 and it is not working with PWR_MGMT_1 set to zero as implemented in the library modules (inv_mpu.c and inv_mpu_dmp_motion_driver.c).