There is any even easier way. I did this via chat with Palm, because I want to have a backup copy myself:
1.) Dial ##66623#
2.) Tap Cellebrite Export
3.) When it is done, connect the phone to the computer
4.) Select USB drive then Open the Palm Pre drive
5.) Make sure that "Show hidden files and folders" is selected in your pc (folder options)
6.) Open the TEMP folder
7.) A file called "PIMmigration" will be inside the TEMP folder, copy this file to the desktop.
It will show one contact, BUT! now open your gmail, go to your contacts & pick more actions & import the vcard from where you saved it. ALL the contacts will move to Google/Gmail.