Recently, I wanted to rip the DTS-encoded audio off of a music DVD and store it into some sort of music file I could play at whim, without having to go dig the DVD out of storage. Here's how I did it.

Rip the track

tccat -i /dev/dvd -T $title,$chapter > file.vob

Encode to WAV

First figure out which audio stream you want. It might look like this:

Input #0, mpeg, from 'file.vob':
  Duration: 00:07:42.2, start: 2746.452144, bitrate: 3923 kb/s
  Stream #0.0[0x1e0]: Video: mpeg2video, yuv420p, 720x480, 9000 kb/s, 29.97 fps(r)
  Stream #0.1[0xa0]: Audio: pcm_s16be, 48000 Hz, stereo, 1536 kb/s
  Stream #0.2[0x89]: Audio: dca, 48000 Hz, 5:1, 1536 kb/s
  Stream #0.3[0x20]: Subtitle: dvdsub

In this case we want #2, the 'dca' stream.

ffmpeg -i file.vob -map 0:$stream -vn -ac 6 file.wav

Encode to FLAC

flac file.wav

Play

mplayer file.flac