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I'm not to sure, but you could probably download a boot-able Linux distro, (From the CD, from the floppy, whatever) and mount both hard drives (For example: mkdir /mnt/hda1 then mount /dev/hda[harddivenumber]) <- do that for both, and cp -R or mr or whatever the files from one to the hard drive. It should work if the distro has the ability to mount FAT32 drives, or if your Windows XP drive is NTFS, NTFS and FAT32 drives.
Peace
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That will work without converting anything, without installing anything, and without a chance of loss data.