Which phone model do you have? Are you using the basic non-visual voicemail or a visual voicemail?

The translation is the Verizon server thinks you have visual voicemail, but the phone is either not setup to receive visual voicemail or the phone isn't capable of using the Verizon Visual Voicemail application.

Basically you have to either setup visual voicemail on your phone or add a block to your line to prevent the system from automatically assigning visual voicemail to your line.