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A .cue file is the table of contents for a disc image. It's a plain text file that tells disc-burning software, virtual drive software, and emulators how to interpret the accompanying .bin or .img file: where each track starts, whether it's audio or data, what the gaps between tracks are, and what format the data is in.
The format was created for CDRWIN, one of the first CD burning programs, and became a de facto standard. A typical .cue file is tiny — a few lines of text referencing the much larger .bin file. Without the .cue file, software doesn't know how to split the raw binary data into tracks.
In the audio world, .cue files serve a second purpose: splitting a single lossless audio file (FLAC, APE, WAV) into individual tracks. Foobar2000 and other music players read .cue files to display and navigate to individual songs within a single-file album rip.