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This is described in PARI/GP documentation at http://pari.math.u-bordeaux.fr/dochtml/html/General_number_fields.html#polgalois
And to have a more direct hand on the underlying PARI/GP object you can do
sage: P = pari(G.group())
sage: P
[20, -1, 3, "F(5) = 5:4"]
