http://math.ucr.edu/home/baez/physics/Relativity/SR/rocket.html has the equations of motion.
To get some insight, consider the Newtonian formula
v(\tau+d\tau) = v(\tau) + g*d\tau
and replace the addition of velocities with the relativistic velocity addition formula
v_1 + v_2 = \frac{v_1+v_2}{1+v_1\,v_2/c^2}
giving
v( \tau+d\tau ) = \frac{v(\tau) + g d\tau}{1+ (g/c^2)\,v(\tau)\,d\tau} \approx v(\tau) + \frac{g d\tau}{1-v^2(\tau)/c^2 }
(The approximate answer can be derived with a taylor series, among other methods, using calculus).
You can use a spreadsheet or calculus to find v(\tau) this way, and compare it to the exact known results in the sci.physics.faq.
Not that \tau here is proper time, what the spaceship's clock measures.
If you are familiar with 4 velocites and 4-accelerations, MTW's textbook "Gravitation" has a more formal derivation.
It turns out that the 4-velocity is [\cosh g\tau, \sinh g\tau]
while the 4-acceleration is its derivative [g \sinh g\tau, g \cosh g\tau]
and the 4-position its integral [(1/g) \sinh g\tau, (1/g) \sinh g\tau + K]
Once you know that the magnitude of the 4 velocity must be -1 (with MTW's sign convention), and the 4-acceleration must be perpendicular to the 4-velocity, plus the fact that the 4-acceleratio is just the derivative of the 4-velocity with respet to proper time \tau its pretty easy to solve the equations of motion. Realizing why all of these are true will require some familiarity with 4-vectors and their application to relativity.
This sort of motion is also known as "hyperbolic motion",
See the wiki