5.1 to 2.0 (or DVD to CD)

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I've searched (and not found) any cheap (free?) software for converting the sound off DVD video to .wav or CD format. This is because I've got some concert DVDs and a couple of other movies (Koyaanisqatsi & Baraka) that I'd like to be able to listen to on the car CD/MP3 player.

Having the hard-drive fritz last month and losing all the lovely OEM stuff that I previously enjoyed is a bit of a problem also...

Any ideas or recommendations (or links to previous threads)?
 
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