ASA 5505 Remote Access vpn

I am having difficulty with setting up a remote access VPN tunnel using UDP.  I can successfully get it working with TCP on port 10000, but am curious why this won't work using UDP.  I am using the Cisco VPN Client version  I manually configured the internet access, but used the VPN Wizard to create the VPN, so I would hope it would work.  When I try to access the VPN, I get the following error on the client:

Secure VPN Connection terminated locally by the Client.  Reason 412: The remote peer is no longer responding.  

On the ASA, I get the following messages:
ciscoasa# sh crypto isakmp sa

   Active SA: 1
    Rekey SA: 0 (A tunnel will report 1 Active and 1 Rekey SA during rekey)
Total IKE SA: 1

1   IKE Peer: 173.x.x.19
    Type    : user            Role    : responder
    Rekey   : no              State   : AM_WAIT_MSG3
ciscoasa# Apr 10 19:59:55 [IKEv1]: Group = RATunnelGroup, IP = 173.x.x.19, Removing peer from peer table failed, no match!
Apr 10 19:59:55 [IKEv1]: Group = RATunnelGroup, IP = 173.x.x.19, Error: Unable to remove PeerTblEntry

ciscoasa# sh run
: Saved
ASA Version 7.2(4)
hostname ciscoasa
domain-name default.domain.invalid
enable password iqPWcgPR2I.lTESm encrypted
passwd 2KFQnbNIdI.2KYOU encrypted
interface Vlan1
 nameif inside
 security-level 100
 ip address
interface Vlan2
 nameif outside
 security-level 0
 ip address 173.x.x.17
interface Ethernet0/0
 switchport access vlan 2
interface Ethernet0/1
interface Ethernet0/2
interface Ethernet0/3
interface Ethernet0/4
interface Ethernet0/5
interface Ethernet0/6
interface Ethernet0/7
ftp mode passive
dns server-group DefaultDNS
 domain-name default.domain.invalid
access-list inside_access_in extended permit ip any any log
access-list outside_access_in extended permit icmp any host 173.x.x.17 echo-reply log
access-list outside_access_in extended permit esp any host 173.x.x.17 log
access-list outside_access_in extended permit udp any host 173.x.x.17 eq isakmp
access-list inside_nat0_outbound extended permit ip any
pager lines 24
logging asdm informational
mtu outside 1500
mtu inside 1500
ip local pool RAIPPool mask
icmp unreachable rate-limit 1 burst-size 1
asdm image disk0:/asdm-524.bin
no asdm history enable
arp timeout 14400
global (outside) 1 interface
nat (inside) 0 access-list inside_nat0_outbound
nat (inside) 1
access-group outside_access_in in interface outside
access-group inside_access_in in interface inside
route outside 173.x.x.30 1
timeout xlate 3:00:00
timeout conn 1:00:00 half-closed 0:10:00 udp 0:02:00 icmp 0:00:02
timeout sunrpc 0:10:00 h323 0:05:00 h225 1:00:00 mgcp 0:05:00 mgcp-pat 0:05:00
timeout sip 0:30:00 sip_media 0:02:00 sip-invite 0:03:00 sip-disconnect 0:02:00
timeout sip-provisional-media 0:02:00 uauth 0:05:00 absolute
http server enable
http inside
no snmp-server location
no snmp-server contact
snmp-server enable traps snmp authentication linkup linkdown coldstart
crypto ipsec transform-set ESP-3DES-SHA esp-3des esp-sha-hmac
crypto dynamic-map outside_dyn_map 20 set pfs group1
crypto dynamic-map outside_dyn_map 20 set transform-set ESP-3DES-SHA
crypto map outside_map 65535 ipsec-isakmp dynamic outside_dyn_map
crypto map outside_map interface outside
crypto isakmp enable outside
crypto isakmp policy 10
 authentication pre-share
 encryption 3des
 hash sha
 group 2
 lifetime 86400
telnet timeout 5
ssh timeout 5
console timeout 0
dhcpd auto_config outside

group-policy RATunnelGroup internal
group-policy RATunnelGroup attributes
 dns-server value
 vpn-tunnel-protocol IPSec
 default-domain value vpnpool.local
username me password 8iu20oLrwSoja6Qa encrypted privilege 15
tunnel-group RATunnelGroup type ipsec-ra
tunnel-group RATunnelGroup general-attributes
 address-pool RAIPPool
 default-group-policy RATunnelGroup
tunnel-group RATunnelGroup ipsec-attributes
 pre-shared-key *
class-map inspection_default
 match default-inspection-traffic
policy-map type inspect dns preset_dns_map
  message-length maximum 512
policy-map global_policy
 class inspection_default
  inspect dns preset_dns_map
  inspect ftp
  inspect h323 h225
  inspect h323 ras
  inspect rsh
  inspect rtsp
  inspect esmtp
  inspect sqlnet
  inspect skinny
  inspect sunrpc
  inspect xdmcp
  inspect sip
  inspect netbios
  inspect tftp
service-policy global_policy global
prompt hostname context
: end

So my questions are:
1.  Is TCP is favor over UDP now?
2.  What am I missing in my config?

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When the UDP fails it is usually a NAT issue, you can add the line crypto isakmp nat-traversal to assist with this, it will switch from UDP to TCP if NAT is detected.
B1izzardAuthor Commented:
If NAT is detected where?  On the client router or the VPN router?
When you set crypto isakmp nat-traversal, during negotiations for the tunnel if NAT is detected it will move to TCP 500.

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