From the logs I can see that you are not matching the isakmp policies. It is processing each of the policies but failing due to mismatched for various reasons - e.g hash or encryption algorthim etc.
If it works on your other router with the same configuration, are you using the same IOS version on both routers? Same VPN client? Can you run a debug of a successful authentication on the other router and send over?
Can you send over a sanitised copy of the configuration?
I don't believe Cisco VPN Client Version 5 is even supported anymore.