It almost looks like you don't have it in the RAP whitelist:
Notify: AUTHENTICATION_FAILED (ESP spi=93163f00)
May 23, 12:19:16: InNotify AP authentication failed
ike2_state.c (7882): errorCode = ERR_IKE_NOTIFY_PAYLOAD
May 23, 12:19:16: IKE_SAMPLE_ikeStatHdlr(CHILD_SA): dwPeerAddr:d8890e43 index:0 mPeerType:0
May 23, 12:19:16: IKE SA failed reason = ERR_IKE_XAUTH_FAILED, errorcode = -8952 ikeVer 2
May 23, 12:19:16: send_sapd_error: InnerIP:0 error:45 debug_error:0
May 23, 12:19:16: send_sapd_error: error:45 debug_error:0
May 23, 12:19:16: IKE_SAMPLE_ikeStatHdlr(SA): dwPeerAddr:d8890e43 index:0 mPeerType:0
May 23, 12:19:16: IKE_SA [v2 I] (id=0xd6d38218) flags 0x41000015 failed reason = ERR_IKE_XAUTH_FAILED, errorcode = -8952
May 23, 12:19:16: IKE_SAMPLE_ikeStatHdlr(IST_FAIL): g_ikeversion:2
Timer ID: 1 Deleted
rapperSendStatusCB