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I found a solution to convert it:

IFS=:
tshark -T fields -e data.data  -r test_00001_20191007090955.pcap | while read -r line ; do 
    for c in $line; do  
        printf "\x$c" 
    done
    echo 
done

prints the desired output.

I found a solution the magic flag to convert it:set: -o data.show_as_text:TRUE

IFS=:
tshark -T fields -e data.data  data.text -o data.show_as_text:TRUE -r test_00001_20191007090955.pcap | while read -r line ; do 
    for c in $line; do  
        printf "\x$c" 
    done
    echo 
done
test_00010_20191007091905.pcap

prints the desired output.