If you want to preserve chapter/track splits, open the VIDEO_TS/disc in the Media Browser of Toast 7's Video tab, drag the tracks across to the main window, select them all and hit the Export button. Choose your format, sample rate etc and let it rip.
N.B. For a VIDEO_TS to be available to the browser it must be either in your ~/Movies directory or on the desktop, unwrapped.
The Decrypter equivalent is
MacTheRipper.
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