Sorry for the delay in getting back to you...
You can still use DVD Decrypter, but this time set it to 'IFO mode', and then each title will appear as a separate 'Video Title Set' (VTS) with an associated 'program chain' (PGC). These PGCs are the individual programmes you recorded.
Before you rip the titles, go to 'Tools' -> 'Settings' -> 'IFO mode' tab, and make sure 'File Splitting' is set to 'None'. Then rip them as before, and afterwards change the '.vob' file extension to ".mpg".
[If you use 'File mode' then all you get are the DVD-Video format .VOB files; which are all the individual recordings bunched up together and then re-segmented into chunks of ~1 Gb.]