Here, I told Wireshark to decode "UDP/1167 as IP" (as it's IP encapsulated over UDP/1167):


Frame 3 (490 bytes on wire, 490 bytes captured)
Ethernet II, Src: <My PC eth HW addr>, Dst: <NATing router eth HW addr>
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: stmf (501)
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: isakmp (500)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 0000000000000000
    Next payload: Security Association (1)
    Version: 1.0
    Exchange type: Aggressive (4)
    Flags: 0x00
    Message ID: 0x00000000
    Length: 420
    Security Association payload
    Vendor ID: 4C5643372E312E323A5850
    Key Exchange payload
    Nonce payload
    Identification payload

Frame 4 (378 bytes on wire, 378 bytes captured)
Ethernet II, Src: <NATing router eth HW addr>, Dst: <My PC eth HW addr>
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: stmf (501), Dst Port: cisco-ipsla (1167)
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: isakmp (500), Dst Port: cisco-ipsla (1167)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 071100B28978E79B
    Next payload: Security Association (1)
    Version: 1.0
    Exchange type: Aggressive (4)
    Flags: 0x00
    Message ID: 0x00000000
    Length: 308
    Security Association payload
    Key Exchange payload
    Nonce payload
    Identification payload
    Hash payload
    Vendor ID: 4C5647392E322E3237373A425249434B3A392E322E323737

Frame 5 (122 bytes on wire, 122 bytes captured)
Ethernet II, Src: <My PC eth HW addr>, Dst: <NATing router eth HW addr>
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: stmf (501)
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: isakmp (500)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 071100B28978E79B
    Next payload: Hash (8)
    Version: 1.0
    Exchange type: Aggressive (4)
    Flags: 0x00
    Message ID: 0x00000000
    Length: 52
    Hash payload

Frame 6 (138 bytes on wire, 138 bytes captured)
Ethernet II, Src: <NATing router eth HW addr>, Dst: <My PC eth HW addr>
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: stmf (501), Dst Port: cisco-ipsla (1167)
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: isakmp (500), Dst Port: cisco-ipsla (1167)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 071100B28978E79B
    Next payload: Hash (8)
    Version: 1.0
    Exchange type: Informational (5)
    Flags: 0x01
    Message ID: 0xcc896ff8
    Length: 68
    Encrypted payload (40 bytes)

Frame 7 (194 bytes on wire, 194 bytes captured)
Ethernet II, Src: <My PC eth HW addr>, Dst: <NATing router eth HW addr>
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: stmf (501)
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: isakmp (500)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 071100B28978E79B
    Next payload: Hash (8)
    Version: 1.0
    Exchange type: Informational (5)
    Flags: 0x01
    Message ID: 0xbb371353
    Length: 124
    Encrypted payload (96 bytes)

Frame 9 (810 bytes on wire, 810 bytes captured)
Ethernet II, Src: <NATing router eth HW addr>, Dst: <My PC eth HW addr>
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: stmf (501), Dst Port: cisco-ipsla (1167)
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: isakmp (500), Dst Port: cisco-ipsla (1167)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 071100B28978E79B
    Next payload: Hash (8)
    Version: 1.0
    Exchange type: Informational (5)
    Flags: 0x01
    Message ID: 0xc441dee1
    Length: 740
    Encrypted payload (712 bytes)

Frame 10 (1430 bytes on wire, 1430 bytes captured)
Ethernet II, Src: <My PC eth HW addr>, Dst: <NATing router eth HW addr>
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: stmf (501)
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
Data (1368 bytes)
<FRAGMENTED, DECODED BELOW>

Frame 11 (362 bytes on wire, 362 bytes captured)
Ethernet II, Src: <My PC eth HW addr>, Dst: <NATing router eth HW addr>
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: stmf (501)
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: isakmp (500)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 071100B28978E79B
    Next payload: Hash (8)
    Version: 1.0
    Exchange type: Quick Mode (32)
    Flags: 0x01
    Message ID: 0x5c8bb978
    Length: 1660
    Encrypted payload (1632 bytes)

Frame 12 (250 bytes on wire, 250 bytes captured)
Ethernet II, Src: <NATing router eth HW addr>, Dst: <My PC eth HW addr>
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: stmf (501), Dst Port: cisco-ipsla (1167)
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: isakmp (500), Dst Port: cisco-ipsla (1167)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 071100B28978E79B
    Next payload: Hash (8)
    Version: 1.0
    Exchange type: Quick Mode (32)
    Flags: 0x01
    Message ID: 0x5c8bb978
    Length: 180
    Encrypted payload (152 bytes)

Frame 13 (122 bytes on wire, 122 bytes captured)
Ethernet II, Src: <My PC eth HW addr>, Dst: <NATing router eth HW addr>
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: stmf (501)
Internet Protocol, Src: 192.168.1.236, Dst: <LVG public IP addr>
User Datagram Protocol, Src Port: cisco-ipsla (1167), Dst Port: isakmp (500)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 071100B28978E79B
    Next payload: Hash (8)
    Version: 1.0
    Exchange type: Quick Mode (32)
    Flags: 0x01
    Message ID: 0x5c8bb978
    Length: 52
    Encrypted payload (24 bytes)

Frame 14 (154 bytes on wire, 154 bytes captured)
Ethernet II, Src: <NATing router eth HW addr>, Dst: <My PC eth HW addr>
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: stmf (501), Dst Port: cisco-ipsla (1167)
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: isakmp (500), Dst Port: cisco-ipsla (1167)
Internet Security Association and Key Management Protocol
    Initiator cookie: 6D32A38850E81FD0
    Responder cookie: 071100B28978E79B
    Next payload: Hash (8)
    Version: 1.0
    Exchange type: Informational (5)
    Flags: 0x01
    Message ID: 0xf14c287e
    Length: 84
    Encrypted payload (56 bytes)

Frame 16 (114 bytes on wire, 114 bytes captured)
Ethernet II, Src: <NATing router eth HW addr>, Dst: <My PC eth HW addr>
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: stmf (501), Dst Port: cisco-ipsla (1167)
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
Encapsulating Security Payload
    ESP SPI: 0x000063b4
    ESP Sequence: 1

Frame 17 (114 bytes on wire, 114 bytes captured)
Ethernet II, Src: <NATing router eth HW addr>, Dst: <My PC eth HW addr>
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: stmf (501), Dst Port: cisco-ipsla (1167)
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
Encapsulating Security Payload
    ESP SPI: 0x000063b4
    ESP Sequence: 2

Frame 18 (114 bytes on wire, 114 bytes captured)
Ethernet II, Src: <NATing router eth HW addr>, Dst: <My PC eth HW addr>
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
User Datagram Protocol, Src Port: stmf (501), Dst Port: cisco-ipsla (1167)
Internet Protocol, Src: <LVG public IP addr>, Dst: 192.168.1.236
Encapsulating Security Payload
    ESP SPI: 0x000063b4
    ESP Sequence: 3