What you have posted appears to be from the log of the IPSec VPN client. But it shows only the last little bit of activity and does not show us the attempts to negotiate. Perhaps more of the log from the client might be helpful, but I believe that the best thing that you could give us is what is happening on the 5510. I would start with logs from the 5510 during the time that the client is attempting to connect, and perhaps the relevant parts of the 5510 config.
This error is generally seen when your transform-set mode is set to transport instead of tunnel.
Transport mode is not supported for RA VPN. You must use Tunnel mode for the IPSec Transform set as we need to maintain the inside IP header so that once the packet is decapsulated and decrypted at the IPSec head end it can forward the packet.
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