Programatically download InfoPath form data?

I need to connect to sharepoint and download InfoPath form data programatically so that I can schedule the download as an automated process.

I have found information on how to get the form data as XML from the GUI. But I can not find any information on how to get the data from code.

I do not need anything fancy, I need to pull all the data from a particular form.

I found this How To get Data from a Completed InfoPath Form and an answer mentions in passing * You have to first extract the underlying XML files, which you could do programmatically,* but I have not been able to find any information on how to actually accomplish this.