What I have done is not easy but it worked.

You'll have to install preware and then install the contacts to email patch. This will allow you to send all your contacts to yourself as a vcard file.

Then import this vcard file into gmail and all your contacts from the phone should show up in gmail. You'll have to do a little editing and finding duplicates but it worked for me. I can give a better walk-through if you need it.

 

Link to the patch on Pre-Central.