This file appears to be in a binary XML format. What is this format and how can it be parsed programmatically (as opposed to using the aapt dump tool in the SDK)?
If your into Python or use Androguard, the Androguard Androaxml feature will do this conversion for you. The feature is detailed in this blog post, with additional documentation here and source here.
Usage:
$ ./androaxml.py -h
Usage: androaxml.py [options]
Options:
-h, --help show this help message and exit
-i INPUT, --input=INPUT
filename input (APK or android's binary xml)
-o OUTPUT, --output=OUTPUT
filename output of the xml
-v, --version version of the API
$ ./androaxml.py -i yourfile.apk -o output.xml
$ ./androaxml.py -i AndroidManifest.xml -o output.xml