I can recommend bashburn.It also has no gui but some kind of pseudo gui (ncurses interface) and it worked like a charm everytime I used it and it also has the possibility to copy a cd to the hard disk and convert the wav files to mp3, ogg or flacs. It's very easy to use; only problem: you have to do (very simple) configuration steps after the first start which only take 5 minutes.
So give it a try! Though I have to mention that I never used this feature.
