I did it with a combination of the answers here. First of all to get the DB, and the Objects and everything, I used:
mkdir -p /tmp/upgrade
$FWDIR/scripts/migrate_server export -v R81.10 /tmp/upgrade/GAIAConfig.tgz
Note: you might need to verify first or/and skip upgrade tools check. Also the --ignore_warnings flag could be useful
$FWDIR/scripts/migrate_server verify -skip_upgrade_tools_check -v R81.10
after this everything is exported and can be copied to somewhere via scp or your other favorite tool.
to import it on the new FW I used:
$FWDIR/scripts/migrate_server import /tmp/import/GAIAConfig.tgz -skip_upgrade_tools_check
This was for all the objects etc.
For the configuration of the FW itself, after the initial setup, I used this:
To export:
save configuration Config.txt
Note: you might want to delete some lines in the exported config file before importing it again. check out what will be set by loading this file and delete everything you don't want
export this too via scp to somewhere and then import it on the new FW
To import:
set clienv on-failure continue
load configuration Config.txt
set clienv on-failure stop
save config