Not sure what you are trying to accomplish precisely, since you don’t cover that part.
Looking at the data I would guess you can filter out separators and such by checking for proper title:
global $menu;
foreach ( $menu as $group => $item ) {
if ( ! empty( $item[0] ) ) {
echo $item[0] . " > " . $item[2] . "<br>";
}
}
Results for me in:
Dashboard > index.php
Posts > edit.php
Media > upload.php
Pages > edit.php?post_type=page
Comments 0 > edit-comments.php
Test > edit.php?post_type=test
Appearance > themes.php
Plugins 0 > plugins.php
Users > users.php
Tools > tools.php
Settings > options-general.php
SEO 00 notifications > wpseo_dashboard