Hi, @schivsan!
The information you're asking for is already in the ODK Aggregate data wrangling for App Engine forum post:
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First, export a selection of entities from your Aggregate DataStore to a Google Cloud Storage bucket
You should follow the instructions from the official support article Exporting and Importing Entities. Here's the example command you should use:
gcloud datastore export --kinds="KIND1,KIND2" --namespaces="NAMESPACE1,NAMESPACE2" gs://${BUCKET}
Remember that a form stored in Aggregate can have more than one related entity. This docs page explains Aggregate's database structure.
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Once you've completed exporting your entities, you should follow this guide that explains how to query data in BigQuery.