boot: bootutil: image_validate: Add error on security counter fail

Adds an error log output showing the version of the image security
counter and the monotonic counter value when the image has too low
a count to be booted

Note: This PR has been modified from the upstream commit due to
a merge failure from other changes that are not being brought into
Zephyr 3.7

Signed-off-by: Jamie McCrae <jamie.mccrae@nordicsemi.no>
(cherry picked from commit fc8477e5)