You can check your iTMSTransporter position is in Transporter.app or download from Apple webview.
I've downloaded iTMSTransporter from https://help.apple.com/itc/transporteruserguide/en.lproj/static.html#apdAe41970bd
and change my command line from /Applications/Transporter.app/Contents/itms/bin/iTMSTransporter to /usr/local/itms/bin/iTMSTransporter to solve this problem.