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rostopic does not handle float images correctly and will instead interpret the data as an array of unsigned characters (bytes), which is what you see.

If you only want to have a look at what the depth image looks like, you can display it using image_view:

rosrun image_view image_view image:=/camera/depth/image

If you need access to the raw float data, you should write a small node that subscribes and processes these float images. Check this tutorial