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Unfortunately it is not possible to decrypt the form data on your google sheets, so you cannot read it there. The only way to view your submissions is by going to the submissions page and uploading your encryption key to decrypt the data.
If you want to integrate the form with google sheets, you will have to remove the encryption on your form. To do so, just go to your form Preferences, select Advanced and set the Encrypt Form Data to No.
For more information on encrypted forms, you may check out our FAQ here: Encrypted Forms and How to Use Them. Regards.