This means that your clients are using IPSEC over TCP (Port 10000) to connect to the VPN GW. However the higher security level interface (represented by 'I' in Reset-I) is sending a reset to close the connection. This is usually normal (as one side is requesting to close the TCP session), perhaps it does not need it any longer.
If your VPN is not working, you would be better of running an isakmp/ipsec debug then worrying too much about this syslog.
We have configured the outside and inside Interface with official ipv6 adresses, set a default route on outside Interface to our router, we also have definied a rule , which also gets hits, to permit tcp from inside Interface to any6.
In Syslog I also se...