dvd2avi..it will rip the audio as a wav then you can convert it using any old convertor (cdex/eac/audiograbber etc)
http://arbor.ee.ntu.edu.tw/~jackei/dvd2avi/put dvd in drive, start dvd2avi / file-open / navigate the the .vob file you want to rip audio from, under audio, change the output method to .wav then go to file and save project, name it anything then press save. the wav file/s will be in the folder you saved your project. From there on in it's pretty simple to learn the rest.
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Works perfect. Thanks