What is the Telemetry(1 or 2) output data format?

Hello everyone.

I’m trying to read the telemetry output data from pixhawk. I understand that this data this port is an UART serial port. The only thing that I’d to know is what is the data format or protocol that it uses. Because I tried to read it and a serial monitor and strage data came out.

This is because I want to read the GPS data from TELEM2 using an Arduino for example.