Commands dvdrip used 

Determine number of titles 

$ tcprobe -H 10 -i /dev/dvd
libdvdread: Using libdvdcss version 1.2.8 for DVD access
[tcprobe] DVD image/device
libdvdread: Using libdvdcss version 1.2.8 for DVD access
(dvd_reader.c) mpeg2 ntsc 16:9 only letterboxed U0 720x480 video
(dvd_reader.c) ac3 en drc 48kHz 6Ch
(dvd_reader.c) subtitle 00=<en>
(dvd_reader.c) subtitle 01=<zh>
(dvd_reader.c) DVD title 1/3: 22 chapter(s), 1 angle(s), title set 1
                          ^^
(dvd_reader.c) title playback time: 01:50:20.09  6621 sec
(dvd_reader.c) [Chapter 01] 00:00:00.000
(dvd_reader.c) [Chapter 02] 00:04:32.166
(dvd_reader.c) [Chapter 03] 00:09:51.666
 [...]
(dvd_reader.c) [Chapter 22] 01:40:39.333
[tcprobe] summary for /dev/dvd, (*) = not default, 0 = not detected
import frame size: -g 720x480 [720x576] (*)
     aspect ratio: 16:9 (*)
       frame rate: -f 23.976 [25.000] frc=1 (*)
      audio track: -a 0 [0] -e 48000,16,2 [48000,16,2] -n 0x2000 [0x2000]
[tcprobe] V: 158746 frames, 6621 sec @ 23.976 fps
[tcprobe] A: 103.45 MB @ 128 kbps
[tcprobe] CD:  650 MB | V:  546.5 MB @ 692.5 kbps
[tcprobe] CD:  700 MB | V:  596.5 MB @ 755.8 kbps
[tcprobe] CD: 1300 MB | V: 1196.5 MB @ 1516.0 kbps
[tcprobe] CD: 1400 MB | V: 1296.5 MB @ 1642.7 kbps

Probing - title #1 

$ tcprobe -H 10 -i /dev/dvd -T 1

(dvd_reader.c) mpeg2 ntsc 16:9 only letterboxed U0 720x480 video
(dvd_reader.c) ac3 en drc 48kHz 6Ch
(dvd_reader.c) subtitle 00=<en>
(dvd_reader.c) subtitle 01=<zh>
(dvd_reader.c) DVD title 1/3: 22 chapter(s), 1 angle(s), title set 1
                         ^^^
(dvd_reader.c) title playback time: 01:50:20.09  6621 sec
(dvd_reader.c) [Chapter 01] 00:00:00.000
(dvd_reader.c) [Chapter 02] 00:04:32.166
(dvd_reader.c) [Chapter 03] 00:09:51.666
 [...]
(dvd_reader.c) [Chapter 22] 01:40:39.333
[tcprobe] summary for /dev/dvd, (*) = not default, 0 = not detected
import frame size: -g 720x480 [720x576] (*)
     aspect ratio: 16:9 (*)
       frame rate: -f 23.976 [25.000] frc=1 (*)
      audio track: -a 0 [0] -e 48000,16,2 [48000,16,2] -n 0x2000 [0x2000]
[tcprobe] V: 158746 frames, 6621 sec @ 23.976 fps
[tcprobe] A: 103.45 MB @ 128 kbps
[tcprobe] CD:  650 MB | V:  546.5 MB @ 692.5 kbps
[tcprobe] CD:  700 MB | V:  596.5 MB @ 755.8 kbps
[tcprobe] CD: 1300 MB | V: 1196.5 MB @ 1516.0 kbps
[tcprobe] CD: 1400 MB | V: 1296.5 MB @ 1642.7 kbps

$ dvdxchap -t 1 /dev/dvd
libdvdread: Using libdvdcss version 1.2.8 for DVD access
CHAPTER01=00:00:00.000
CHAPTER01NAME=Chapter 01
CHAPTER02=00:04:32.166
 [...]
CHAPTER22=01:40:39.333
CHAPTER22NAME=Chapter 22

Probing - title #2 

$ tcprobe -H 10 -i /dev/dvd -T 2
(dvd_reader.c) mpeg2 ntsc 16:9 only letterboxed U0 720x480 video
(dvd_reader.c) ac3 en drc 48kHz 6Ch
(dvd_reader.c) DVD title 2/3: 1 chapter(s), 1 angle(s), title set 2
(dvd_reader.c) title playback time: 00:00:23.28  24 sec
(dvd_reader.c) [Chapter 01] 00:00:00.000
[tcprobe] summary for /dev/dvd, (*) = not default, 0 = not detected
import frame size: -g 720x480 [720x576] (*)
     aspect ratio: 16:9 (*)
       frame rate: -f 23.976 [25.000] frc=1 (*)
      audio track: -a 0 [0] -e 48000,16,2 [48000,16,2] -n 0x2000 [0x2000]
[tcprobe] V: 576 frames, 24 sec @ 23.976 fps
[tcprobe] A: 0.38 MB @ 128 kbps

$ dvdxchap -t 2 /dev/dvd
CHAPTER01=00:00:00.000
CHAPTER01NAME=Chapter 01

Probing - title #3 

$ tcprobe -H 10 -i /dev/dvd -T 3

(dvd_reader.c) mpeg2 ntsc 4:3 U0 720x480 video
(dvd_reader.c) ac3 en drc 48kHz 2Ch
(dvd_reader.c) DVD title 3/3: 1 chapter(s), 1 angle(s), title set 3
(dvd_reader.c) title playback time: 00:05:02.06  303 sec
(dvd_reader.c) [Chapter 01] 00:00:00.000
[tcprobe] summary for /dev/dvd, (*) = not default, 0 = not detected
import frame size: -g 720x480 [720x576] (*)
     aspect ratio: 4:3 (*)
       frame rate: -f 23.976 [25.000] frc=1 (*)
      audio track: -a 0 [0] -e 48000,16,2 [48000,16,2] -n 0x2000 [0x2000]
[tcprobe] V: 7265 frames, 303 sec @ 23.976 fps
[tcprobe] A: 4.73 MB @ 128 kbps

$ dvdxchap -t 3 /dev/dvd
CHAPTER01=00:00:00.000
CHAPTER01NAME=Chapter 01

Ripping - title #3 

$ tccat -t dvd -T 3,-1,1 -i /dev/dvd | dr_splitpipe -f /lfs/dlCache2/movies/rip/dat/test/tmp/test-003-nav.log 1024 /lfs/dlCache2/movies/rip/dat/test/vob/003/test vob  | tcextract -a 0 -x ac3 -t vob | tcdecode -x ac3 | tcscan -x pcm

Grabbing preview - title #3, frame #4566 

transcode  -H 10 -z -k -o snapshot -y ppm,null -x vob,null -i /lfs/dlCache2/movies/rip/dat/test/vob/003 -c 6-7 -L 45180 && dr_exec convert -size 720x480 /tmp/dvdrip30905.ppm/snapshot*.ppm /lfs/dlCache2/movies/rip/dat/test/tmp/test-003-preview-orig.jpg && dr_exec convert -size 720x480 /tmp/dvdrip30905.ppm/snapshot*.ppm gray:/lfs/dlCache2/movies/rip/dat/test/tmp/test-003-preview-orig.raw && rm -r /tmp/dvdrip30905.ppm

Transcoding video, single pass 

on title #3.

transcode -H 10 -a 0 -x vob -i /lfs/dlCache2/movies/rip/dat/test/vob/003 -w 1152 -F 1,'-B 251 -I 0 -S 10000 ' --export_asr 2 -b 224 -s 2.378 --a52_drc_off -V  -f 30,4 -Y -4,76,-4,76 -B 1,11,8 -y mpeg2enc,mp2enc -E 44100 -o /lfs/dlCache2/movies/rip/dat/test/avi/003/test-003 --print_status 20

Transcoding video, history 1 

NB,

Need to alter the video frames to 29.97, and audio frames to 224, when the project is initially created! The following log shows that only video frame rate was altered.

$ transcode -H 10 -a 0 -x vob -i /lfs/dlCache2/movies/rip/dat/test/vob/003 -w 2600 -F 5,'-B 182 -I 0 -S 10000  -g 9 -G 18' --export_asr 2 -b 128 -s 2.378 --a52_drc_off -V  -f 30,4 -Y -4,76,-4,76 -B 1,11,8 -y mpeg2enc,mp2enc -E 44100 -o /lfs/dlCache2/movies/rip/dat/test/avi/003/test-003 --print_status 20
-H n              auto-probe n MB of source (0=off) [1]
-a a[,v]          extract audio[,video] track [0,0]
-x vmod[,amod]    video[,audio] import modules [null]
-i name           input file/directory/device/mountpoint/host name
 -w b[,k[,c]]      encoder bitrate[,keyframes[,crispness]] [1800,250,100]
 -F codec          encoder parameter strings [module dependent]
--export_asr C     set export aspect ratio code C [as input]
 -b b[,v[,q[,m]]]  audio encoder bitrate kBits/s[,vbr[,quality[,mode]]] [128,0,5,0]
 -s g[,c[,f[,r]]]  increase volume by gain,[center,front,rear] [off,1,1,1]
--a52_drc_off       disable liba52 dynamic range compression [enabled]
 -V                use YV12/I420 as internal video codec [off]
 -f rate[,frc]     output video frame rate[,frc] [25.000,0] fps
 -Y t[,l[,b[,r]]]         select (encoder) frame region by clipping border [off]
 -B n[,m[,M]]         resize to height-n*M rows [,width-m*M] columns [off,32]
 -y vmod[,amod]    video[,audio] export modules [null]
 -E r[,b[,c]]      audio output samplerate, bits, channels [as input]
 -o file           output file name
--print_status N[,use_cr] print status every N frames / use CR or NL [1,1]
$ cat /lfs/dlCache2/movies/rip/dat/test/avi/003/test-003.dvdrip-info
# Movie information file. Generated by dvd::rip; http://www.exit1.org/dvdrip[]

[General]
 Title:                 test
Data source:           DVD
DVD title number:      3
 Runtime:               00:05:04

[Video]
Video format:          NTSC
FPS:                   29.97
 Size:                  480 x 480
Video bitrate (kbps):  2600
Video codec:           SVCD
2-pass-encoded:        no
Fast resizing:         yes
Deinterlacer filter:   No deinterlacing
Antialiasing filter:   No antialiasing

[Audio 1]
DVD audio track id:    0
 Language:              en
Audio codec:           mp2
 Channels:              2
Sample rate:           48000
Audio bitrate (kbps):  128
Volume rescaling:      2.378
Audio filter:          None, volume rescale only

[Programs]
dvd::rip version:      0.50.16
transcode version:     0.6.9

Multiplexing MPEG 

on title #3.

mplex -f 4 -r 2728 -V -o /lfs/dlCache2/movies/rip/dat/test/avi/003/test-003-%d.mpg /lfs/dlCache2/movies/rip/dat/test/avi/003/test-003.m2v /lfs/dlCache2/movies/rip/dat/test/avi/003/test-003.mpa

Playing /lfs/dlCache2/movies/rip/dat/test/avi/003/test-003-1.mpg.
MPEG-PS file format detected.
VIDEO:  MPEG2  480x480  (aspect 2)  29.970 fps  2600.0 kbps (325.0 kbyte/s)
Opening audio decoder: [mp3lib] MPEG layer-2, layer-3
MP3lib: init layer2&3 finished, tables done
AUDIO: 44100 Hz, 2 ch, 16 bit (0x10), ratio: 16000->176400 (128.0 kbit)
Selected audio codec: [mp3] afm:mp3lib (mp3lib MPEG layer-2, layer-3)