Step 1: Analyzing the metal ions.
In qualitative inorganic analysis, H$_2$S in dilute HCl is used to precipitate metal ions as sulfides. Among the given ions, Co$^{2+}$ forms a precipitate as CoS.
Step 2: Conclusion.
The ion that precipitates as sulfide in the presence of H$_2$S in warm dilute HCl is Co$^{2+}$, corresponding to option (C).