DVD Audio Extractor 4.3.0
http://www.castudio.org/dvdaudioextractor/
I converted some PSB concert DVDs with it and listened to them as MP3s going up to Newcastle! This program also ripped a couple of DVD audio streams from some DVD singles that were copy protected and stopped my previous program from working...
Ah, but Yah.Oma...
Download a 30 day trial version and try out for free.
The trial version is fully functional within the trial period, so that you can experiment with all the features without any restriction.
Much, much easier and you can choose which audio stream.
Ie standard VHS track or enhanced digital one etc...
I also have Easy CD-DA Extractor [Professional] for music making from CDs, by a different company, but this does audio CDs. It can also convert files from one to another:
http://www.poikosoft.com/