In a Rabi oscillation experiment with a superconducting qubit we show that a visibility in the qubit excited state population of more than 90 % can be attained. We perform a dispersive measurement of the qubit state by coupling the qubit non-resonantly to a transmission line resonator and probing the resonator transmission spectrum. The measurement process is well characterized and quantitatively understood. The qubit coherence time is determined to be larger than 500 ns in a measurement of Ramsey fringes. ; Comment: 4 pages, 5 figures, version with high resolution figures available at http://www.eng.yale.edu/rslab/Andreas/content/science/PubsPapers.html