I've had this problem a few times when I have had the air box off and have played with the carb slides... I think I was putting a little "extra" fuel down the cylinders and it would make a big 'pop' or backfire sound at startup. I was pretty nervous that I was going to blow a gasket, but so far no problems. I would always check the sync... very easy to do, but since you checked the plugs and they were fouled, it seems like you may have the same problem as me... a little too much fuel. Were you messing with anything since the last time you rode or started it?