Mototrbo, as far as I have observed, uses Motorola Text Messaging Service protocol. The TMS is encapsulated in UDP/IP packets using port 4007. Messages are usually sent in standard DMR confirmed rate 3/4 data blocks.
The source and destination IP addresses are encoded radio IDs, where the first 8 bits of the address is the type of device (12d = radio, 13 = USB, 14 = bluetooth, ...), the remaining 24 bits is the actual ID of the radio.
The contents of the UDP packet have the TMS header, which appears to always be 6 bytes long, so in a pinch you can just skip those bytes and display the rest.
In my observation it seems that the TMS header is something along the lines of:
-Bytes 0+1: length of the message in bytes, excluding the first two length bytes
-Byte 2: unknown, 0xC0 or 0XE0. E0 usually gets a response packet, so it could be that C0 is for unacknowledged, and E0 for ack'ed... just a guess.
-Byte 3: 0x00
-Byte 4: probably a sequence number, increments with every new message. Can probably be used to merge messages split in multiple UDP packets.
-Byte 5: 0x04
Mind you, I have described the headers for the TMS packets actually carrying text, the other headers, which are probably used for signalization (ACK, resend), are different, usually 3 (+2) bytes long without content.
Regards.