Unlike other iPod management applications, it is possible to copy tracks resident on the iPod back onto a PC, using gtkpod.
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Mark the tracks you want to export and select "Export Tracks from Database" from the file menu (or use the context sensitive menu).
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A file selection dialog window appears and you can choose the directory you'd like the selected files to be written to.
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You can specify the output filename in the prefs dialog by specifying a template (e.g. "%A/%a - %t"). You can specify multiple templates for different file formats by separating them by a semicolon (e.g. "%A/%a - %t.mp3;%t.wav"). See the tooltip in the preferences window for a list of identifiers.