https://community.cisco.com/t5/network-access-control/acs-5-1-13030-tacacs-authentication-error-question/td-p/1507146

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Solved: ACS 5.1 13030 TACACS+ Authentication Error Question

I am in the process of setting up a new TACACS+ server and am in the process of updating all of our network devices' configurations to point to the new server.