CUPS won't print due to filter errors in RHEL 5

Issue

Trying to use the lp command, but it fails to print. The same command works from another server. There are errors in /var/log/cups/error_log like the following:
```
E [08/Oct/2013:17:18:28 +0000] [Job 17615] Job stopped due to filter errors.
```

Red Hat Enterprise Linux 5

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