I Think the error message that you have provided relates to some ICMP related issue.Try removing "ICMP inspection".Also try upgrading to 7.2.4 as there has been a similar issue with previous versions.Check for available free memory as the ASA may crash due to non-availability of memory.
The entire crash dump is needed to relate it to any known bug or issue. I would suggest opening a TAC case so the crash can be decoded and analyzed. Without doing so, any software upgrade is just a best effort guess.
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...