extracting .vob files from home recorded DVD

[dgmm]

I've got a DVD recorder (the VCR replacement type) and have recorded a TV show 
to DVD off air.

The disc shows only two .vob file of 1GB whereas there should be three of 
these 1GB plus a smaller one as well as the very small one (the front end 
menu)

The one visible in the file system is the first one.

webmaker% ll ~/cdrom/video_ts
total 1048848
-r-xr-xr-x  1 root  wheel       12288 Mar 27 20:01 video_ts.bup
-r-xr-xr-x  1 root  wheel       12288 Mar 27 20:01 video_ts.ifo
-r-xr-xr-x  1 root  wheel      116736 Mar 27 20:01 video_ts.vob
-r-xr-xr-x  1 root  wheel       69632 Mar 27 20:01 vts_01_0.bup
-r-xr-xr-x  1 root  wheel       69632 Mar 27 20:01 vts_01_0.ifo
-r-xr-xr-x  1 root  wheel  1073739776 Mar 27 20:01 vts_01_1.vob

Does anyone know how to access the rest of the files?  I'm assuming it's some 
sort of multi-session format or maybe some sort of packet writing format.

I've had a play with some of the cd/dvd utils and I've not, so far, found a 
way to access other sessions.

I did find a program for Windows which managed to successfully rip the whole 
show from the disc, but I'd rather not have to boot back to WinXP for 
something which on the surface looks like a simple task.

Is there a CD/DVD reader utility/tool which can show the available sessions 
and select which one to read?

Is it some weird format/ToC which I'm just not "getting"?

Any all pointers to docs, the right program etc appreciated.

Further reading on the matter suggests that I should specify that the disc in 
question is a DVD+RW (the DVD Recorder can play back DVD- but only records to 
DVD+ so reading DVD+R/RW is the important bit)


Below is some info from cdrecord
(if you need more info, tell me what you need)

------------------------------------------------------------------------
webmaker# cdrecord -scanbus
Cdrecord-Clone 2.01 (i386-unknown-freebsd5.3) Copyright (C) 1995-2004 Jörg 
Schilling
Using libscg version 'schily-0.8'.
scsibus1:
        1,0,0   100) 'HL-DT-ST' 'DVDRAM GSA-4081B' 'A100' Removable CD-ROM
        1,1,0   101) 'IOMEGA  ' 'ZIP 250         ' '51.G' Removable Disk
<snip>
------------------------------------------------------------------------
webmaker# ./cdrecord-wrapper.sh -dev=1,0,0 -toc
Cdrecord-ProDVD-Clone 2.01b29 (i386-unknown-freebsd5.1) Copyright (C) 
1995-2004 Jörg Schilling
Unlocked features: ProDVD Clone
Limited  features:
This copy of cdrecord is licensed for: 
private/research/educational_non-commercial_use
scsidev: '1,0,0'
scsibus: 1 target: 0 lun: 0
Using libscg version 'schily-0.8'.
Device type    : Removable CD-ROM
Version        : 0
Response Format: 2
Capabilities   :
Vendor_info    : 'HL-DT-ST'
Identifikation : 'DVDRAM GSA-4081B'
Revision       : 'A100'
Device seems to be: Generic mmc2 DVD-R/DVD-RW.
Using generic SCSI-3/mmc-3 DVD+RW driver (mmc_dvdplusrw).
Driver flags   : DVD MMC-3 SWABAUDIO BURNFREE
Supported modes: TAO PACKET SAO SAO/R96P SAO/R96R RAW/R16 RAW/R96P RAW/R96R
first: 1 last 1
track:   1 lba:         0 (        0) 00:00:00 adr: 1 control: 4 mode: -1
track:lout lba:   2295104 (  9180416) -1:59:74 adr: 1 control: 4 mode: -1

-----------------------------------------------------------------------------
webmaker# ./cdrecord-wrapper.sh -dev=1,0,0 -atip
Cdrecord-ProDVD-Clone 2.01b29 (i386-unknown-freebsd5.1) Copyright (C) 
1995-2004 Jörg Schilling
Unlocked features: ProDVD Clone
Limited  features:
This copy of cdrecord is licensed for: 
private/research/educational_non-commercial_use
scsidev: '1,0,0'
scsibus: 1 target: 0 lun: 0
Using libscg version 'schily-0.8'.
Device type    : Removable CD-ROM
Version        : 0
Response Format: 2
Capabilities   :
Vendor_info    : 'HL-DT-ST'
Identifikation : 'DVDRAM GSA-4081B'
Revision       : 'A100'
Device seems to be: Generic mmc2 DVD-R/DVD-RW.
Using generic SCSI-3/mmc-3 DVD+RW driver (mmc_dvdplusrw).
Driver flags   : DVD MMC-3 SWABAUDIO BURNFREE
Supported modes: TAO PACKET SAO SAO/R96P SAO/R96R RAW/R16 RAW/R96P RAW/R96R
book type:       DVD+RW, Version 2 (9.2)
disc size:       120mm (0)
minimum rate:    Not specified (15)
number of layers:0
track path:      Parallel Track Path (0)
layer type:      illegal layer type (4)
linear density:  0.267 µm/bit (0)
track density:   0.74 µm/track (0)
phys start:      196608
phys end:        2491711
end layer 0:     0
bca:             0
phys size:...    2295104
Manufacturer:    'PRODISC'
Media type:      'W01'
copyr prot type: 0
region mgt info: 0
cpm:             0
cgms:            0

-----------------------------------------------------------------------------------

-- 
Dave