I need a free software for Windows (with gui or command line) that does incremental backup copying all files and storing changed or deleted files in a directory named like last change date (or a progressive number).

To be more precise:
D:\ is my Data drive
E:\ is my Backupdrive.

If i want to backup all my data from D:\:
E:\d_lastbackup\ will contain a plain copy of all the files and folder content (no compression or archiving, same files attributes) of D
E:\d_20090822\ will contain all files (with their full path) that are changed or deleted in the last version (since the previous one)
E:\d_20090820\ will contain all files (with their full path) that are changed or deleted in the last version (since the previous one)
and so on...

I had a software working prefectly with an old USB harddsik by Maxtor, but it works only on that device.

Any suggestion?