Insert the music CD in your drive & open Grip. Instead of "Rip & Encode", choose "Rip". This will rip the songs from the CD as .wav files instead of .mp3 or .ogg.

Once Grip has finished, you will need to rename the files. Grip by default will have named the files something long, perhaps like this:

Ella_Fitzgerald_And_Louis_Armstrong_-_Ella_And_Louis_-_01_-_Cant_We_Be_Friends.wav

Rename the files to something like this:

01_-_Cant_We_Be_Friends.wav

An easy way to rename these files is to use the rename command. In the case of the long file name above, try something like this:

rename Ella_Fitzgerald_And_Louis_Armstrong_-_Ella_And_Louis_-_0 0 *wav

At this point, it's time to burn the new CD. First type this to find out which SCSI bus your CD-R is on:

cdrecord -scanbus

You should get some output like this, although your numbers may vary:

Cdrecord 2.00.3 (i686-pc-linux-gnu) Copyright (C) 1995-2002 Jrg Schilling
Linux sg driver version: 3.1.24
Using libscg version 'schily-0.7'
scsibus0:
    0,0,0    0) 'HL-DT-ST' 'RW/DVD GCC-4160N' '0013' Removable CD-ROM
    0,1,0    1) *
    0,2,0    2) *
    0,3,0    3) *
    0,4,0    4) *
    0,5,0    5) *
    0,6,0    6) *
    0,7,0    7) *

Note that my CD-R is located at 0,0,0. Now that I have this information, it's time to actually burn the disc. Put in a blank CD-R & type the following, changing 0,0,0 as appropriate to your system, and the speed to an appropriate one for your CD-R.

cd the/location/of/your/wav/files/*wav
cdrecord -v speed=4 dev=0,0,0 -audio *.wav

You should see a lot of information on your command line, indicating that the tracks are being burned to your CD-R. Eventually, it will finish. When it's done, take the CD-R out and have a listen. Enjoy!