http://www.togaware.com/linux/survivor/Copy_Video.shtml
To copy a Video CD (these use audio CD disks—the common CD-R) the following should do the trick:
$ cdrdao read-cd --paranoia-mode 2 --read-raw data.toc
There are other tools including readvcd, vcdimager, and vcdgear. (NB, no found any more as of 2004.11.07)
Copyright (c) 1995-2004 Graham Williams
--paranoia-mode mode Sets the correction mode for digital audio extraction. 0: No checking, data is copied directly from the drive. 1: Perform overlapped reading to avoid jitter. 2: Like 1 but with addi- tional checks of the read audio data. 3: Like 2 but with addi- tional scratch detection and repair.
The extraction speed reduces from 0 to 3.
Default is the full paranoia mode (3).