I got a similar error, I had to comment a line in nusoap.php..something like:
//$this->debug("$k = $v<br>");
and it was fine for me.
Obviously, it is only for debug so don't worry about the functionality, because it should be the same if you comment the line. I think when you create complex data (that's mean, in your case an array inside another array) nusoap is not able to print it for debugging.
Anyway good luck.