.tlog file format

I wanna read the telemetry log files (.tlog or/and .rlog) in MATLAB, I don't want to use Mission Planner to convert these files to .mat, I want to read .tlog with my MATLAB codes, directly, but I don't know the exact format of .tlog file, for example, from which bytes up to which bytes are related to the value of specific paramteres,

Is there any document or related links to help me?

Thanks a lot.

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