From gromacs, use the trjconv program to create a series of pdb files for each time step of the simulation.
trjconv -s swnt -f traj.trr -o last.pdb -sep
swnt is the structure, traj is the trajectory file created from running a dynamics simulation and last.pdb is the name you give to the pdb series.
After running the script you get a text file for each atom the has the time and xyz coordinates:

Here is a sample output for atom 1
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