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Here's a quick way:

rosbag play mybag.bag
rostopic echo /foo > output.txt

This will output all message in the topic /foo to a yaml-formatted text file. You can then parse the file. It might be useful to output to multiple files for different fields. Let's say the message type on /foo is Pose:

rosbag play mybag.bag
rostopic echo /foo/position/x > output_x.txt
rostopic echo /foo/position/y > output_y.txt
rostopic echo /foo/position/z > output_z.txt

You can also look into bagys, which are an extension of the concept above.