some of my config:
crypto ipsec transform-set myset esp-aes-256 esp-sha-hmac 
crypto dynamic-map dynmap 10 set transform-set myset
crypto map mymap 10 ipsec-isakmp dynamic dynmap
isakmp enable outside
isakmp policy 10 authentication rsa-sig
isakmp policy 10 encryption aes-256
isakmp policy 10 hash sha
isakmp policy 10 group 5
isakmp policy 10 lifetime 86400



*******************
The debug:
OAK_MM exchange
ISAKMP (0): processing SA payload. message ID = 0

ISAKMP (0): Checking ISAKMP transform 1 against priority 10 policy
ISAKMP:      encryption AES-CBC
ISAKMP:      hash SHA
ISAKMP:      default group 5
ISAKMP:      extended auth RSA sig (init)
ISAKMP:      life type in seconds
ISAKMP:      life duration (VPI) of  0x0 0x20 0xc4 0x9b 
ISAKMP:      keylength of 256
ISAKMP (0): atts are not acceptable. Next payload is 3
ISAKMP (0): Checking ISAKMP transform 2 against priority 10 policy
ISAKMP:      encryption AES-CBC
ISAKMP:      hash MD5
ISAKMP:      default group 5
ISAKMP:      extended auth RSA sig (init)
ISAKMP:      life type in seconds
ISAKMP:      life duration (VPI) of  0x0 0x20 0xc4 0x9b 
ISAKMP:      keylength of 256
ISAKMP (0): atts are not acceptable. Next payload is 3
ISAKMP (0): Checking ISAKMP transform 3 against priority 10 policy
ISAKMP:      encryption AES-CBC
ISAKMP:      hash SHA
ISAKMP:      default group 5
ISAKMP:      auth RSA sig
ISAKMP:      life type in seconds
ISAKMP:      life duration (VPI) of  0x0 0x20 0xc4 0x9b 
ISAKMP:      keylength of 256
ISAKMP (0): atts are not acceptable. Next payload is 3
ISAKMP (0): Checking ISAKMP transform 4 against priority 10 policy
ISAKMP:      encryption AES-CBC
ISAKMP:      hash MD5
ISAKMP:      default group 5
ISAKMP:      auth RSA sig
ISAKMP:      life type in seconds
ISAKMP:      life duration (VPI) of  0x0 0x20 0xc4 0x9b 
ISAKMP:      keylength of 256
ISAKMP (0): atts are not acceptable. Next payload is 3
ISAKMP (0): Checking ISAKMP transform 5 against priority 10 policy
ISAKMP:      encryption AES-CBC
ISAKMP:      hash SHA
ISAKMP:      default group 2
ISAKMP:      extended auth RSA sig (init)
ISAKMP:      life type in seconds
ISAKMP:      life duration (VPI) of  0x0 0x20 0xc4 0x9b 
ISAKMP:      keylength of 256
ISAKMP (0): atts are not acceptable. Next payload is 3
ISAKMP (0): Checking ISAKMP transform 6 against priority 10 policy
ISAKMP:      encryption AES-CBC
ISAKMP:      hash MD5
ISAKMP:      default group 2
ISAKMP:      extended auth RSA sig (init)
ISAKMP:      life type in seconds
ISAKMP:      life duration (VPI) of  0x0 0x20 0xc4 0x9b 
ISAKMP:      keylength of 256
ISAKMP (0): atts are not acceptable. Next payload is 3
ISAKMP (0): Checking ISAKMP transform 7 against priority 10 policy
ISAKMP:      encryption AES-CBC
ISAKMP:      hash SHA
ISAKMP:      default group 2
ISAKMP:      auth RSA sig
ISAKMP:      life type in seconds
ISAKMP:      life duration (VPI) of  0x0 0x20 0xc4 0x9b 
ISAKMP:      keylength of 256
ISAKMP (0): atts are not acceptable. Next payload is 3
ISAKMP (0): Checking ISAKMP transform 8 against priority 10 policy
ISAKMP:      encryption AES-CBC
ISAKMP:      hash MD5
ISAKMP:      default group 2
ISAKMP:      auth RSA sig
ISAKMP:      life type in seconds
ISAKMP:      life duration (VPI) of  0x0 0x20 0xc4 0x9b 
ISAKMP:      keylength of 256
ISAKMP (0): atts are not acceptable. Next payload is 3
ISAKMP (0): Checking ISAKMP transform 9 against priority 10 policy
ISAKMP:      encryption AES-CBC
ISAKMP:      hash SHA
ISAKMP:      default group 5
ISAKMP:      extended auth RSA sig (init)
ISAKMP:      life type in seconds
ISAKMP:      life duration (VPI) of  0x0 0x20 0xc4 0x9b 
ISAKMP:      keylength of 128
fw01(config)# 
fw01(config)# 
ISAKMP (0): deleting SA: src 66.38.216.166, dst 209.71.254.2
ISADB: reaper checking SA 0x3c66d5c, conn_id = 0  DELETE IT!

VPN Peer:ISAKMP: Peer Info for 66.38.216.166/500 not found - peers:0