I'm using my laptop as the TFTP server and copy the ios into my laptop. 
To do this, you must configure your laptop as the TFTP server. I'm using PumpKIN as the application to run TFTP server on my laptop. PumpKIN is a free software you can get it here. Install and run it on your laptop. (you may want to edit the PumpKIN download path at option).
Then enter your ASA firewall console, follow below command (in blue) to successfully transfer the IOS into your laptop.
ASA>en                              
ASA#sh flash: --Display the current flash
-#- --length-- -----date/time------ path
6 2844       Jul 27 2010 15:10:54 admin.cfg
7 1868412    Jan 01 2003 08:07:00 securedesktop-asa-3.1.1.29-k9.pkg
8 398305     Jan 01 2003 08:07:16 sslclient-win-1.1.0.154.pkg
9 0          Nov 02 2007 15:51:50 crypto_archive
10 6287244    Nov 02 2007 15:54:10 asdm-523.bin
13 8515584    Apr 22 2008 08:06:38 asa724-k8.bin
14 6514852    Apr 22 2008 08:07:46 asdm-524.bin
15 4401       Jul 27 2010 15:10:54 old_running.cfg
231735296 bytes available (23691264 bytes used)
ASA#copy flash: tftp:  --begin to transfer IOS by using TFTP
Source filename []? asa724-k8.bin --enter (type) the ios name 
Address or name of remote host []? 172.17.8.55 --enter your laptop ip address
Destination filename [asa724-k8.bin]? --press ENTER to begin the trasfer process
Writing file tftp://172.17.8.55/asa724-k8.bin... !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
<<<<<<<<<<<<<<<<<<<<<<<output omitted>>>>>>>>>>>>>>>>>>>>>>>>>>
Transfer process may took longer time if the IOS file is big and depends on your connection. I'm suggest you using wired connection rather than wireless, wireless took longer time to transfer and error while transferring the file might occur (connection lost).
Source filename []? asa724-k8.bin
Address or name of remote host []? 172.17.8.55
Destination filename [asa724-k8.bin]?
On your laptop, PumpKIN will prompt this window,click Accept to begin the transfer process:
 
On the ASA console, the transfer process begin
 
Writing file tftp://172.17.8.55/asa724-k8.bin... !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
<<<<<<<<<<<<<<<<<<<<<<<output omitted>>>>>>>>>>>>>>>>>>>>>>>>>>
Transfer process may took longer time if the IOS file is big and depends on your connection. I'm suggest you using wired connection rather than wireless, wireless took longer time to transfer and error while transferring the file might occur (connection lost).
