cdparanoia is a tool for extracting audio data from a CD and saving it to a file. It can write files in WAV, AIFF and raw formats.
See the web page or man cdparanoia for detailed documentation. The basic usage is:
cdparanoia -w 10 track10.wav
This will read track number 10 from the CD and write it to the WAV format file track10.wav.
Output files are 44.1 kHz, 16 bit, stereo.
This means the output file size will be 176 kilobytes per second of sound,
or 10 megabytes for one minute.
The command play will play a sound file in WAV or AIFF format. e.g.:
play track10.wav
Clicking on the file's icon in your desktop interface should also play it.