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Have you already looked at the Cisco doc that describes the process?http://www.cisco.com/en/US/products/hw/vpndevc/ps2030/products_tech_note09186a008072142a.shtmlIf you need to automate it, there are suggestions in the Cisco doc for that. Otherwise ...
Yeah, you can back it up via TFTP without an authentication challenge - that's not a problem. You can even build an ACL to limit the IP addresses that can perform a TFTP GET against the ASA (to pull the config). There are a number of scripts and tool...
I'm using an Expect script from a linux host that leverages SSH and SCP. Feel free to look at it here:http://paklids.blogspot.com/2012/01/securely-backup-cisco-firewall-asa-fwsm.htmlI usually kick off the expect scipt to add some other fancy features...