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Ripping DVDs with subtitle files

Dear Lazyweb: I am looking for a command-line tool to rip DVDs into .avi or .mpg files, and I want the subtitles to go into a separate file such that the movie itself is not tainted by the subtitles.

I looked at mencoder and transcode, but neither seems to do what I want, or at least it's not obvious from the manpages.

Does anyone know of a tool, or could tell me how to make mencoder or transcode do what I want? Let me know, please!

NP: Green Carnation / Light of Day, day of Darkness