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When you have audio set to 'bitstream' on your 950 and you use a HDMI cable to connect it to the TV, the message pops up on the screen at the beginning of DVD's, or when there is a change in the audio output from the disc. It just means that the TV wont accept the 'bitstream' audio via HDMI from the 950. But in such a case you'll be listening through an amp as the bitstream setting is for Dolby Digital and DTS.
Doesn't bother me at all but, understandably, it annoys the hell out of some so hence the firmware upgrade.