The information that you need about how to configure this is not so good in the link that you posted. But it is not difficult to configure. I use the following line in configuration of routers and get the accounting records in ACS for all privilege level commands including any configuration commands.
aaa accounting commands 15 default start-stop group tacacs+
You might want to change some details (like tacacs+) depending on how your routers are configured to talk to ACS.
Table of ContentsIntroductionVersion HistoryPossible Future
UpdatesDocuments PurposeNAT Operation in ASA 8.3+ SectionsRule Types
Network Object NATTwice NAT / Manual NATRule Types used per SectionNAT
Types used with Twice NAT / Manual NAT and Network Obje...
Table of Contents Introduction:This document describes details on how
NAT-T works. Background: ESP encrypts all critical information,
encapsulating the entire inner TCP/UDP datagram within an ESP header.
ESP is an IP protocol in the same sense that TCP an...