CUDA version is insufficient for CUDA run time version on Jetson TK1

I have a Jetson TK1 board and I want to compile and run some CUDA codes on it. I have successfully installed the CUDA 6.5 toolkit and nvcc is working. I have compiled my code and now when I want to run my exe, I have got:

cuda driver version is insufficient for CUDA runtime version
Obviously, it is related to different versions of CUDA toolkit and CUDA drivers. When I want to check the driver version, I cannot find any nvidia folder to check the driver version inside the proc/driver/ path!

I have already go inside NVIDIA_INSTALLER/ folder and run the installer and it was done successfully. I also rebooted the OS after driver installation. But the driver has not installed yet. Also, when I type nvidia-smi in the console, I’ve got nvidia-smi not a command. Can anyone give me a solution here?

I have been told the best solution to resolve the issue is to install Jetpack. But I have no GUI access to the board and installation guide is explaining Jetpack installation using GUI. There must be a solution for that otherwise this board is useless for me!!