I'm building a Unity3d project and have the same error, very frustrating. I'm don't know how to ensure that entitlements are in order.. They're enabled for the app ID in the Member Center, and enabled in the XCode project. I might be mixing up my Developer/Distribution certificates with my Developer/AdHoc provisioning. My app has Push Notifications, which might need special consideration because there are separate Production certificates for Push Notifications...
https://forums.developer.apple.com/message/122022#122022
This thread has similar symptoms, and makes it seem like a codesigning issue:
"Some instances of the problem are caused by incorrect app signing. You can easily distinguish this case because the problem is 100% reproducible." eskimo (Apple Staff)
https://forums.developer.apple.com/thread/20193
Someone suggested removing old provisions from the device to decrease the launch delay so that the app does not time-out... but that seems to ignore the real problem.
EDIT: I am able to install and launch my app successfully from XCode on *some* devices without issue. The problem device is an old iPhone4s (it's been updated to iOS9.3.1). I can run it on an iPad Air2 and an iPhone5s with no issue. So far that seems to indicate a hardware compatibility problem.
EDIT: This turned out to be my low spec device running out of memory and terminating my app. The SecTrustEvaluate errors were apparently unrelated.