Go to: http://www.census.gov/geo/www/cob/co2000.html

Click on "ArcView Shapefile (.shp)" link.

Click on desired state.

Click Save.

Save to a known location.

click on Open. 

Extract all files to a known location.



Open QGIS

Go to Layer->Add Vector Layer

Browse to the extracted shape file.

Click on Open.

Click on Okay.

In QGIS go to  Plugins->mmqgis->transfer->Geometry Export to CSV file

Set output file locatons.

Lat/Lon info is in the attributes.csv file.  Save this to appropriate location.