Been a while since I've done anything with the 5000's, but IIRC that message indicates a mismatch between the encrypted traffic ACL's on both sides. On the 5000 you saying encrypt traffic b/n 10.3.24.0/24 to 10.107.52.0/24, make sure you have the exact opposite on the CP.
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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...