You might try this, it helped me a few times:
sudo kextunload -b com.cisco.nke.ipsec; sudo kextload -b com.cisco.nke.ipsec
  
This un and reloads the kernel driver for Cisco VPN. Enjoy. 
You might try this, it helped me a few times:
sudo kextunload -b com.cisco.nke.ipsec; sudo kextload -b com.cisco.nke.ipsec
  
This un and reloads the kernel driver for Cisco VPN. Enjoy. 
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