I had Cisco IPSec issues after the Mavericks patch a week or two ago (10.9.5), with similar errors in my logs -
Oct 14 11:09:19 hostname configd[17]: IPSec connecting to server myvpnserver
Oct 14 11:09:19 hostname configd[17]: SCNC: start, triggered by (178) SystemUIServer, type IPSec, status 0, trafficClass 0
Oct 14 11:09:19 hostname configd[17]: IPSec Phase1 starting.
Oct 14 11:09:19 hostname configd[17]: IPSec port-mapping update for en0 indicates no NAT. Public Address: 80fcaaa9, Protocol: None, Private Port: 0, Public Port: 0.
Oct 14 11:09:19 hostname configd[17]: network changed.
Oct 14 11:09:19 hostname racoon[18536]: accepted connection on vpn control socket.
Oct 14 11:09:19 hostname racoon[18536]: no configuration found for myserverIP
Oct 14 11:09:29 hostname configd[17]: IPSec disconnecting from server myserverIP
Oct 14 11:09:29 hostname racoon[18536]: IPSec disconnecting from server myserverIP
FWIW, deleting and recreating my IPsec instances was the final fix. I tried modifying/creating various config files in the racoon directories, restarting racoon each time, but didn't have success until wiping out the VPN configs.