This is a tut (mainly) for Debian/Ubuntu.
Start by installing bchunk
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sudo apt-get install bchunk
From there you do
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bchunk binfile.bin binfile.cue filename
If you don't have a cue, you can simply create a new file in the same folder as the bin-file and name it for example "binfile.cue" and in it you add:
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FILE ”BinFile.bin” BINARY
TRACK 01 MODE1/2352
INDEX 01 00:00:00