Configuring ASA5510 with RSA secure token authentication

Here's the link on showing how to do this step-by-step via ASDM.

http://www.rsa.com/rsasecured/guides/imp_pdfs/Cisco_ASA_AuthMan61.pdf

If you want to know the specific commands for the PIX/ASA:

RSA Authentication Manager:
aaa-server AuthMan6 protocol sdi
reactivation-mode timed
aaa-server AuthMan6 host 10.100.50.37
retry-interval 3
timeout 13
VPN Policy:
ip local pool test 173.16.16.1-173.16.16.254
crypto ipsec transform-set myset esp-des esp-md5-hmac
crypto dynamic-map dynmap 10 set transform-set myset
crypto map mymap 10 ipsec-isakmp dynamic dynmap
crypto map mymap interface outside
isakmp enable outside
isakmp policy 10 authentication pre-share
isakmp policy 10 encryption des
isakmp policy 10 hash md5
isakmp policy 10 group 2
tunnel-group AuthMan6Group type ipsec-ra
tunnel-group AuthMan6Group general-attributes
address-pool test
authentication-server-group AuthMan6
tunnel-group AuthMan6Group ipsec-attributes
pre-shared-key *

RADIUS authentication configuration:
RADIUS Server:
aaa-server inauth protocol radius
aaa-server inauth host 10.100.50.37
key secret
aaa-server inauth host 10.100.50.36
key secret
aaa-server inauth host 10.100.50.35
key secret
VPN Policy:
ip local pool test 173.16.16.1-173.16.16.254
group-policy ScottRAD internal
group-policy ScottRAD attributes
crypto ipsec transform-set RADIUSset esp-3des esp-sha-hmac
crypto dynamic-map RADIUSmap 30 set transform-set RADIUSset
crypto map newmap 30 ipsec-isakmp dynamic RADIUSmap
crypto map newmap interface outside
isakmp enable outside
isakmp policy 30 authentication pre-share
isakmp policy 30 encryption 3des
isakmp policy 30 hash sha
isakmp policy 30 group 2
isakmp policy 30 lifetime 86400
tunnel-group ScottRAD type ipsec-ra
tunnel-group ScottRAD general-attributes
address-pool test
authentication-server-group inauth
default-group-policy ScottRAD
tunnel-group ScottRAD ipsec-attributes
pre-shared-key *
trust-point torque

Any updates?