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Depends on whether you want to get it into the PC as text, or binary. I don't recall the exact details in either case, and I don't have the 82160A manual handy, but if you've got that it's fairly easy to work out.
For text, you select the 82164A as a printer (make sure the printer ROM enable switch on the bottom of the 82160A HP-IL module in the 41C is turned on, and that you don't have an 82143A printer or 82442A I/R Printer Module installed), then use the "PRP" command.
For binary, you need the Extended I/O Module. You address the 82164A as a listener, then use the "OUTP" command, with the name of the program in the alpha registers. Note that the output isn't raw binary, it's encoded as hexadecimal characters.