http://math.ucr.edu/home/baez/physics/Relativity/SR/rocket.html has the equations of motion.
To get some insight, consider the Newtonian formula
[itex]v(\tau+d\tau) = v(\tau) + g*d\tau[/itex]
and replace the addition of velocities with the relativistic velocity addition formula
[tex]v_1 + v_2 = \frac{v_1+v_2}{1+v_1\,v_2/c^2}[/tex]
giving
[tex]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 }[/tex]
(The approximate answer can be derived with a taylor series, among other methods, using calculus).
You can use a spreadsheet or calculus to find [itex]v(\tau)[/itex] this way, and compare it to the exact known results in the sci.physics.faq.
Not that [itex]\tau[/itex] 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 [itex][\cosh g\tau, \sinh g\tau][/itex]
while the 4-acceleration is its derivative [itex][g \sinh g\tau, g \cosh g\tau][/itex]
and the 4-position its integral [itex][(1/g) \sinh g\tau, (1/g) \sinh g\tau + K][/itex]
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 [itex]\tau[/itex] 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