Ahh ok, how about you build an sql query in PHPMyAdmin that does all the most relevant table joins and then export the results to a CSV as you like it, with all of the connected relational information. The export function in PHPMyAdmin is actually pretty easy to use and you can set your own delimiters, etc.
Once you have a csv (the harder part) you can upload it using some simpler methods like this one:
This post was really old, and I probably would not write it the same way again, but it should still work none the less.