Both of the messages are indications that negotiation is not working correctly between the routers. the first message of
IKE message has no SA and is not an initialization offer
indicates that the router received an ISAKMP message but the message did not have a valid Security Association (SA). In this situation ISAKMP expects to start by sending an initialization offer but this packet is not an initialization offer.
The second message of
received IPSEC packet has invalid SPI
is similar but it deals with an IPSec packet instead of an ISAKMP packet. The term SPI stands for Security Parameter Index and is a way to identify which (of potentially many Security Associations) SA is being used for this tunnel. The error message indicates that an IPSec packet has been received but that the SPI inserted by the sender does not match any currently valid SAs on the receiving station.
I would suggest that you compare the configurations of the two routers very carefully, focusing especially on the parts of the IPSec configuration such as the crypto map parameters.
HTH
Rick
HTH
Rick