There are many programs which can do this, but you don't really need them. Just follow these steps: Copy or Transfer Music and Songs from iPod to PC and Computer without iTunes » My Digital Life
If you want to rename and reorganise the files later, a program like foobar can do it.
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Home: Laptop (Ubuntu, Audacious) > EMU 0202 > Headfive > DT990/HD600/RE0
Portable: 6G iPod > Porta Corda MkIII > K518DJ
Slumming: 6G iPod > Porta Corda MkIII > CX300
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