I don't play with 47, just 1723
The 691 error - actually quite good, at least you are hitting the server
Have you updated your server
uname -a
Linux k 2.6.9-55.EL #1 Wed May 2 13:52:16 EDT 2007 i686 i686 i386 GNU/Linux
Check
rpm -qa | grep "kmod-p"
kmod-ppp-smp-1.0.2-2.2.6.9_55.EL
kmod-ppp-1.0.2-2.2.6.9_55.EL
note that kernel modules match, I think it's smeupdates-testing to get the correct kernel modules
maybe the us-robotics router doesn't pass the VPN pass-through - lot of variables there, maybe you may need to configure it in bridge mode and put your pppoe setup directly into the sme box, not sure, Routre needs to pass GRE through
VPN seems to just work for me, I use netgear routers by choice, but have success with many others.
Just looking at your original post, 192.168.1.0/24 was your internal network
you should be using 2 network cards with a different network on inside and outside
say [wanip] [dmz net] [internal net]
say [wanip] [192.168.5.0/24] [192.168.1.0/24]