1) Go to https://www.google.com/takeout/, select "Choose Services", and select "Voice" and create an archive.
2) After you download the file, extract it and navigate to the "conversations" folder.
3) Place GoogleVoiceToCSV.jar into this folder and run it.  (You need to have the Java runtime environment).
4) Wait a couple seconds, and look for "Text_Messages.csv".  

TODO: Export date in a better format, include voice messages in sort, export to sql databse.