Not able to launch inspector window. App Installation failed for ios iPAD real device

Below is the environment i am using:
Platform : iOS
Appium Version : 1.5.3
Device used: iPAD 9.3.2
Xcode version : 7.3.1
OS : MAC

I was able to launch the appium server and able to get the inspector window for iOS simulator.

But the issue is with the real iPAD device. I have build the project for iPAD and signed with development profile with xcode 7.3.1. When I try to get the inspector window. I am getting the below error:

[debug] [iOS] App is not installed. Will try to install.

    [MJSONWP] Encountered internal error running command: Error: Installing /var/folders/5t/bsn8jrcn01qdd85p81kmgfdw0000gp/T/2016725-55685-mzl18e/Payload/CSG Tools.app failed
        at /Applications/Appium.app/Contents/Resources/node_modules/appium/node_modules/appium-ios-driver/node_modules/node-idevice/main.js:159:6
        at ChildProcess.exithandler (child_process.js:193:7)
        at emitTwo (events.js:100:13)
        at ChildProcess.emit (events.js:185:7)
        at maybeClose (internal/child_process.js:850:16)
        at Socket.<anonymous> (internal/child_process.js:323:11)
        at emitOne (events.js:90:13)
        at Socket.emit (events.js:182:7)
        at Pipe._onclose (net.js:475:12)

Here is the complete log from the appium ios app:

Launching Appium with command: '/Applications/Appium.app/Contents/Resources/node/bin/node' appium/build/lib/main.js --debug-log-spacing --platform-version "9.3" --platform-name "iOS" --app "/Users/prakash/Desktop/appiumTest/demoDevice.ipa" --udid "020495f917ddb501ce5c88f50f84aff88005b602" --device-name "prakash's iPad"

[Appium] Welcome to Appium v1.5.3

[Appium] Non-default server args:

[Appium]   debugLogSpacing: true
[Appium]   platformName: 'iOS'

[Appium]   platformVersion: '9.3'
[Appium]   deviceName: 'prakash\'s iPad'
[Appium]   app: '/Users/prakash/Desktop/appiumTest/demoDevice.ipa'
[Appium]   udid: '020495f917ddb501ce5c88f50f84aff88005b602'
[Appium] Deprecated server args:
[Appium]   --platform-name => --default-capabilities '{"platformName":"iOS"}'
[Appium]   --platform-version => --default-capabilities '{"platformVersion":"9.3"}'
[Appium]   --device-name => --default-capabilities '{"deviceName":"prakash's iPad"}'
[Appium]   --app => --default-capabilities '{"app":"/Users/prakash/Desktop/appiumTest/demoDevice.ipa"}'
[Appium]   -U,--udid => --default-capabilities '{"udid":"020495f917ddb501ce5c88f50f84aff88005b602"}'
[Appium] Default capabilities, which will be added to each request unless overridden by desired capabilities:

[Appium]   platformName: 'iOS'

[Appium]   platformVersion: '9.3'
[Appium]   deviceName: 'prakash\'s iPad'
[Appium]   app: '/Users/prakash/Desktop/appiumTest/demoDevice.ipa'
[Appium]   udid: '020495f917ddb501ce5c88f50f84aff88005b602'

[Appium] Appium REST http interface listener started on 0.0.0.0:4723

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...

[HTTP] <-- GET /wd/hub/status 200 31 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...

[HTTP] <-- GET /wd/hub/status 200 14 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []
[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 12 ms - 83 
[HTTP] --> GET /wd/hub/sessions {}
[MJSONWP] Calling AppiumDriver.getSessions() with args: []

[MJSONWP] Responding to client with driver.getSessions() result: []
[HTTP] <-- GET /wd/hub/sessions 200 3 ms - 40 

[HTTP] --> POST /wd/hub/session {"desiredCapabilities":{"platformName":"iOS","newCommandTimeout":"7200","app":"/Users/prakash/Desktop/appiumTest/demoDevice.ipa","platformVersion":"9.3","udid":"020495f917ddb501ce5c88f50f84aff88005b602","deviceName":"prakash's iPad","automationName":"Appium"}}
[MJSONWP] Calling AppiumDriver.createSession() with args: [{"platformName":"iOS","new...
[Appium] Creating new IosDriver session
[Appium] Capabilities:
[Appium]   platformName: 'iOS'
[Appium]   newCommandTimeout: '7200'
[Appium]   app: '/Users/prakash/Desktop/appiumTest/demoDevice.ipa'
[Appium]   platformVersion: '9.3'
[Appium]   udid: '020495f917ddb501ce5c88f50f84aff88005b602'
[Appium]   deviceName: 'prakash\'s iPad'
[Appium]   automationName: 'Appium'
[BaseDriver] Capability 'newCommandTimeout' changed from string ('7200') to integer (7200). This may cause unexpected behavior

[BaseDriver] Session created with session id: a541cda6-ec8b-4d33-87cb-8ffa571c2d45
[debug] [iOS] Not auto-detecting udid.
[BaseDriver] Using local app '/Users/prakash/Desktop/appiumTest/demoDevice.ipa'
[debug] [BaseDriver] Copying local zip to tmp dir

[debug] [BaseDriver] Unzipping /var/folders/5t/bsn8jrcn01qdd85p81kmgfdw0000gp/T/2016725-55685-mzl18e/appium-app.zip
[debug] [BaseDriver] Testing zip archive: /var/folders/5t/bsn8jrcn01qdd85p81kmgfdw0000gp/T/2016725-55685-mzl18e/appium-app.zip

[debug] [BaseDriver] Got a relaxed match for app in zip, be careful for app match errors

[BaseDriver] Unzipped local app to '/var/folders/5t/bsn8jrcn01qdd85p81kmgfdw0000gp/T/2016725-55685-mzl18e/Payload/CSG Tools.app'

[debug] [iOS] Removing any remaining instruments sockets
[debug] [iOS] Cleaned up instruments socket /var/folders/5t/bsn8jrcn01qdd85p81kmgfdw0000gp/T/instruments_sock
[debug] [iOS] No language specified. Using default strings
[debug] [iOS] Strings file not found. Looking in 'en.lproj' directory
[iOS] Could not file localizable strings file 'Localizable.strings'!
[debug] [ios-app-utils] Getting bundle ID from app
[iOS] Extracted bundleID: com.ionicframework.csgtools667618 from app: /var/folders/5t/bsn8jrcn01qdd85p81kmgfdw0000gp/T/2016725-55685-mzl18e/Payload/CSG Tools.app
[debug] [iOS] Creating instruments
[debug] [UIAuto] Preparing bootstrap code
[debug] [UIAuto] Dynamic bootstrap dir: /Users/prakash/Library/Application Support/appium/bootstrap

[debug] [UIAuto] Dynamic env: {"nodePath":"/Applications/Appium.app/Contents/Resources/node/bin/node","commandProxyClientPath":"/Applications/Appium.app/Contents/Resources/node_modules/appium/node_modules/appium-ios-driver/node_modules/appium-uiauto/build/lib/bin/command-proxy-client.js","instrumentsSock":"/var/folders/5t/bsn8jrcn01qdd85p81kmgfdw0000gp/T/instruments_sock","interKeyDelay":null,"justLoopInfinitely":false,"autoAcceptAlerts":false,"autoDismissAlerts":false,"sendKeyStrategy":"grouped"}
[debug] [UIAuto] Dynamic bootstrap code: // This file is automatically generated. Do not manually modify!
...
[debug] [UIAuto] Dynamic bootstrap path: /Users/prakash/Library/Application Support/appium/bootstrap/bootstrap-53116c437492392d.js
[debug] [UIAuto] Reusing dynamic bootstrap: /Users/prakash/Library/Application Support/appium/bootstrap/bootstrap-53116c437492392d.js

[debug] [iOS] Running ios real device reset flow
[debug] [iOSLog] Attempting iOS device log capture via libimobiledevice idevicesyslog
[debug] [iOSLog] Found idevicesyslog: '/usr/local/bin/idevicesyslog'

[debug] [iOS] Creating iDevice object with udid 020495f917ddb501ce5c88f50f84aff88005b602

[debug] [iOS] App is not installed. Will try to install.

[MJSONWP] Encountered internal error running command: Error: Installing /var/folders/5t/bsn8jrcn01qdd85p81kmgfdw0000gp/T/2016725-55685-mzl18e/Payload/CSG Tools.app failed
    at /Applications/Appium.app/Contents/Resources/node_modules/appium/node_modules/appium-ios-driver/node_modules/node-idevice/main.js:159:6
    at ChildProcess.exithandler (child_process.js:193:7)
    at emitTwo (events.js:100:13)
    at ChildProcess.emit (events.js:185:7)
    at maybeClose (internal/child_process.js:850:16)
    at Socket.<anonymous> (internal/child_process.js:323:11)
    at emitOne (events.js:90:13)
    at Socket.emit (events.js:182:7)
    at Pipe._onclose (net.js:475:12)

[HTTP] <-- POST /wd/hub/session 500 1882 ms - 246 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 13 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 13 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 12 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 13 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 14 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 13 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 12 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 14 ms - 83 

[HTTP] --> GET /wd/hub/status {}

[MJSONWP] Calling AppiumDriver.getStatus() with args: []

[MJSONWP] Responding to client with driver.getStatus() result: {"build":{"version":"1.5.3"...
[HTTP] <-- GET /wd/hub/status 200 12 ms - 83

I have the same issue. Any luck resolving?

Probably updated iTunes. Try this