I know I'm reviving a bit of a dead horse here, but I ran into the same problem and fixed it! In my case the situation was a little unique, as I had a MacBook Pro running 10.8.4 that could connect just fine while an iMac, also running 10.8.4, on the same network was failing every time. Deleting the VPN service from the iMac, exporting the working service from the MacBook Pro (with the "include items from the user's keychain" checked), and then importing it on the iMac didn't work.
The iMac's error was "configd: IPSec Controller: IKE FAILED. phase 5, assert 0". The important thing was the iMac's logs showed prior to this error it was making a connection, getting an internal IP and DNS servers, and then racoon was successively reporting:
IKE Packet: transmit failed. (Information message).
IKEv1 Information-Notice: transmit failed. (Delete ISAKMP-SA).
Connecting.
IPSec Phase1 started (Initiated by me).
IKE Packet: transmit success. (Initiator, Aggressive-Mode message 1).
IKEv1 Information-Notice: transmit success. (Without ISAKMP-SA).
IT's VPN server logs didn't show any issues and that the iMac was initiating the disconnection.
I did a fresh install of 10.8.4 to an external USB2 drive, and booting from that the VPN worked the first time. Looking at the variables that could be different between a fresh install and an existing one, I systematically changed each that I could think of: permissions, caches (system, network, and user), preferences, and Keychains. The last was the one that fixed it.
I cleared out my Keychain and the VPN worked when booting from my existing iMac user. I used Migration Assistant to transfer the Keychain from my MacBook Pro user to the iMac, and the VPN continued to reliably work. There may have been some other interaction going on, as making a new user on the iMac prior to all this other troubleshooting did not fix the issue. The Cisco IPSec VPN service, including all settings, did carry over from one user to the next though, so the password, shared secret, etc. were probably accessed by all users.
Hope this helps others!