What is the binary format? If the payload is encoded with something like Google Protobufs or Avro, you’ll need to deserialize it with the correct format.
If you just want to dump the binary contents to the console, I would suggest using SdkPerf, it is probably the most common/useful Solace utility. You can find it here: https://solace.com/downloads/ (tick the box “Other” to find it.
There are LOTS of parameters to use with it, but just to dump a message contents to the console, it will look something like:
sdkperf_lang -cip=<HOST> -cu=<USER>@<VPN> -cp=<PASSWODRD> -sql=<QUEUE_NAME> -qb -md
e.g. ./sdkperf_java.sh -cip=localhost -cu=aaron@default -cp=pw -sql=q1 -qb -md