This message indicates a mismatch between the configuration of the USC Identity Provider and the application you tried logging in to. Specifically, an invalid Assertion Consumer Service URL was requested by the application.
This message used to appear as "Invalid assertion consumer service URL".
They can see the ACS URL by going to (their LMS URL)/auth/saml/metadata.xml - it should contain a part that says <md:AssertionConsumerService Binding="urn:oasis:names:tc:SAML:2.0:bindings:HTTP-POST" Location="http://my-lm-sserver.com/auth/complete/tpa-saml/" index="1"/>
Whatever the domain is in the metadata (http://my-lm-sserver.com here) must be the same as the domain of the login page (http://my-lm-sserver.com/login) from which they are testing. If they're on a devstack using a non-standard port or nginx proxying, make sure the port numbers match are in all of the URLs - the metadata and the browser.