You can just choose not to use the setPanel() method that's provided with 
the DirectionsRenderer, and simply inspect the DirectionsResult object to 
display the textual directions however you like.

This example doesn't use a panel: 
 
http://code.google.com/apis/maps/documentation/javascript/examples/directions-simple.html
 

(linked from 
here<http://code.google.com/apis/maps/documentation/javascript/services.html#DisplayingResults>
).
And then this section of the documentation explain how to examine the 
DirectionsResult, so you can display them however you like (i.e. event 
handlers not linked to the 
map): 
http://code.google.com/apis/maps/documentation/javascript/services.html#InspectingResults

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