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You can do that by following this guide: http://www.jotform.com/help/177-How-to-Enable-FTP-on-Form-Submissions. You can directly send the submission data as PDF and including file uploads, if you have them in your submissions.
Do let us know if you need more help on this.
I cannot enable ftp unless there is a file upload field. I do not want to have the form upload a file. I just want the form data sent to an ftp site as a CSV file. Can I do this?
Unfortunately, it is not possible to send submission as CSV file via FTP using our existing functions or features.
But, I believe this can be done via PHP. You can send the submission as POST Data using a PHP script in your web server and use fputcsv() function to write those data in a CSV file.
Here's a guide on how to send submission data via PHP: http://www.jotform.com/help/213-Send-POST-Data-From-JotForm-Using-PHP-in-Custom-Thank-You-Page.
If you want to directly send the submission data to your MySQL database, that can also be done, here's a guide for that: http://www.jotform.com/help/126-How-to-send-Submissions-to-Your-MySQL-Database-Using-PHP.
If you are familiar with API, you can also fetch submission data using it, although it might need more technical knowledge. Here's a documentation that you can refer: http://api.jotform.com/.
I hope that helps.