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I use GPSTuner 4.2 and it has the ability to store a location as a waypoint. When you tap the map area and choose to store the waypoint, it pops up a screen where you can enter the name, category (airport, bank, bar, beach, etc), and description for that point - the data is stored as Long/Lat coordinates as well as altitude.
You can then go to a menu setting and choose to export your waypoints to several formats, one of which is a .txt format. Of course it has a lot of other functions too - but they have to make the software feature-rich to sell!
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