Permit ICMP

If you have an access-group applied to your outside interface already, use the name for the acccess-list that you are currently using in place of OUTSIDE_ACCESS_IN

access-list OUTSIDE_ACCESS_IN extended permit icmp any any
access-group OUTSIDE_ACCESS_IN in interface OUTSIDE
icmp permit any INSIDE

Permit MTR or Traceroute

Complete the above for ICMP and add the follwing:

class-map inspection_default
match default-inspection-traffic 
policy-map global_policy
class inspection_default
inspect icmp

Reference: http://www.cisco.com/en/US/products/hw/vpndevc/ps2030/products_tech_note09186a0080094e8a.shtml#topic0
the above document references IOS 7, but the instructions work for versions 8 and 9

You get the error message ERROR: % class-map inspection_default not configured

You did not execute the commands

class-map inspection_default
match default-inspection-traffic