Configuring Shrew VPN to access Linksys RV082/RV042

Configuring Shrew VPN to access Linksys RV082/RV042

Does anyone know how to successfully configure Shrew VPN to access a Linksys RV082 or RV042 over IPsec? Below is the error that I receive when I have configured our RV082 as specified in the Shrew Linksys How To Guide: