Getting confused on which bike we are talking about. So I will give advice on both.
For the 2011. If they want $25.5k, then offer them $25k id they throw in extended factory warranty and oil changes. This would cost them little, and they do not really need to deal on the brand new bike. You could also ask for parts if you wanted a different exhaust or intake, but I think they already have decent stuff on the limited... may be wrong.
For the 2010. Get aggressive. That is last years model and probably has been sitting for awhile. They want to move it so they can get a 2011 on the floor in its place. So offer $22-23k with the same extras.
Either way I doubt you will get the deal for my opening offer price, but if they counter offer then you have at least got something. Keep working, and do not be afraid to walk out if you do not hear what you like. If they want to move the bike they will call, and if you really are offering to little then you will know when they do not call you.
Some dealers will not deal, some will. If this is one of those MSRP only dealers, then start calling around. It is not a big deal to drive a bit to get what you want at the price you want to pay. And like others have mentioned, they can often get the bike you want off another dealer's floor.
Last thing, the closer dealer will probably be your main service point so try not to tick them off too much, and they are a business so some profit is needed as long as they are not taking you to the cleaners.