use XBase;
my ($file, $index) = ( '/path/to/foo.dbf', 0);
my $table = XBase->new $file or die XBase->errstr;
{
    local $\ = $record_sep;
    local $, = $field_sep;
    # or use a CSV module
    open my $outfile, '>', '/path/to/foo.txt' or die $!;
    do {
        my @foo = $table->get_record $index
          or die XBase->errstr;
        print $outfile @foo
          or die $!;
    } while $index++ < $table->last_record;
    close $outfile or die $!;
}
$table->close or die XBase->errstr;