Percona xtrabackup transaction log corrupted
DISCLAIMER : Not xtrabackup expert
Your situation is quite similar to a Jan 27, 2016 post on the Percona Forums. The poster, dbaffaleuf, was running percona server 5.6.24-72.2-log, innobackupex 2.3.3 Linux (x86_64).
After encountering your same message, dbaffaleuf wrote

Interestingly the xtrabackup_logfile file has been deleted from the backup path. If I save the xtrabackup_logfile before running the prepare, and restore it after, the first prepare crashes with transaction log corrupted, the next try to prepare works:
Restore the xtrabackup_log file for previous copy after full backup
$ cp /tmp/xtrabackup_logfile /my/path/to/backup/timestamp/

Run the prepare again:
$ /home/products/xtrabackup/bin/innobackupex --use-memory=1G --apply-log /my/path/to/backup/timestamp/ | tee -a /my/path/to/prepare/log/file.log


You may have to do the same

Save the xtrabackup_logfile before running the prepare
Restore the xtrabackup_log file for previous copy after full backup
Run the prepare again