Obtain Geofence Information From Pixhawk

I want to extract geofence information from my Pixhawk. Typically, I have been using mavros to extract information from the pixhawk, but there is not a topic for geofence information. I am able to add multiple geofences through QGroundControl’s GUI and upload to the Pixhawk. How can I then extract the geofence data from the Pixhawk? I need to read this information so I can test some advanced geofence breaching procedures. I saw someone recommended using the mavlink/from topic found in mavros, but I am not sure how to decode the payload message to extract the info. Any recommendations?