MPU6000 CS Pin using I2C

Hey everyone!
I've designed my own board using the MPU6000. I am using it in I2C mode. Using both Adafruit's MPU6050 code and the (common) I2C scanner code the device is not recognised. I think it has to do with the CS pin. In the datasheet it says (0=SPI mode) in the pin descriptions but I can't see anything about I2C and the typical operating circuit schematic leaves CS floating.
When using the MPU6000 in I2C mode should CS be ground or VCC?
Attached is my circuit. VCC is 3.3V and verified on the physical board.