Transcode error "write: Broken pipe"

I'd like to copy DVDs to hard disk for later viewing directly from the
hard disk.

I've ripped successfully, but am unable to transcode to a useful
format.  I was able to transcode to AVI, but then the video and audio
are separate (right?  not sure how to glue them back together).
Anyway, when I try transcoding to OGG/Vorbis, I get the following:

Job 'Transcode with VBR audio, first pass - title #1' failed with error message:
Job 'Transcode video - title #1, chapter #1, pass 1' failed with error message:
Command exits with failure code:
Command: mkdir -m 0775 -p '/athenaeum/dvdrip-data/dvd/tmp' && cd
/athenaeum/dvdrip-data/dvd/tmp && mkdir -p
/athenaeum/dvdrip-data/dvd/avi/001 && execflow -n 19 transcode -H 10
-a 0 -x vob -i \/athenaeum\/dvdrip\-data\/dvd\/vob\/001\-C001\/ -w
381,50 -F mpeg4 -b 128 -s 1.001 --a52_drc_off -f 30,4 -M 2 -R 1 -y
ffmpeg,ogg -m /athenaeum/dvdrip-data/dv/avi/001/lotr-001-C001-00.ogm
-o /dev/null --print_status 25 && echo EXECFLOW_OK

Output: te: Broken pipe
syncinfo write error (0)
write: Broken pipe
[last two lines repeated ad infinitum]

When I try transcoding to MPEG, before I even hit the Transcode button, I get:

Command exits with failure code:
Command: execflow tccat -i /dev/hda -T 1 | dvdrip-progress -m 25 -i 1
| head -c 25m > /tmp/dvdrip.audioprobe.18600.vob && tcprobe -i
/tmp/dvdrip.audioprobe.18600.vob && echo EXECFLOW_OK; rm -f
/tmp/dvdrip.audioprobe.18600.vob

Output: [tccat] (pid=23486) failed to open DVD /dev/hda
25/25
[fileinfo.c:118] file read error: Success
[tcprobe] unknown file type
[tcprobe] filetype/codec not yet supported by 'transcode'

If I'm doing something obviously stupid, please forgive me, I'm a bit
new at this.  Regardless, appreciate any help!

PC