Once you have DVD Audio Extractor,
Find the right title and chapter(s). You can preview the audio. Select the audio stream you want. Such as DTS. Click 'next'.
Now select the output format you want. I usually do wavs. Sample rate can be changed if you want. DVDs use 48000 hz but you'll want 44000 hz if you plan on making a CD.
Select the channels you want.. you'll want 'all 6 channels'
Bits: 16 bits is what you need for a CD, but you can use a higher rate if you want big files. Some DVDs have 24 bit sound so if you want to preserve that, go ahead.
IMPORTANT: select 'Save each channel into separate file' otherwise you'll end up with a multichannel file.
Now select your output folder, and if you've selected multiple chapters, you'll probably want to check the box 'Split tracks by chapter'
That's about it