usbmuxd is shipped with Calibre these days? Next Kovid will add the Linux kernel... :-(
Anyway, hymie, please install the usbmuxd that comes with your distro, then try again. Whatever is included with Calibre should be removed or at least not be used. Kovid has horrible ideas about how dependencies should be installed.
If that doesn't help, please show us the output of calibre-debug -g (started from a console, of course). (Put it in spoiler tags or whatever this forum uses to hide a lot of gibberish. :-) )
The error you're seeing is *normal*, btw, when Calibre starts without any iDevice attached.
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