If you want a graphical interface, SoundConverter is in Trisquel's repository. I use it to extract the audio tracks of videos too. It can read any format that Gstreamer supports (so, basically, anything) and can write not only Ogg Vorbis but also FLAC, WAV or MP3. It is buggy though: it often prints error message that do not seem to be real errors (the files are eventually converted) and it sometimes crashes on some specific files (maybe only on some videos though).

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