I thought to create a DVD compliant MPEG2 Video and PCM Audio using the same principles as earlier for BD video.

The sample source input is a raw DV25 PAL file which includes PCM audio:

ffprobe -hide_banner dv28.dv
[dv @ 0x55dc6248cf00] Estimating duration from bitrate, this may be inaccurate
[dv @ 0x55dc6248cf00] Could not find codec parameters for stream 0 (Video: dvvideo, none, 25000 kb/s): unspecified size
Consider increasing the value for the 'analyzeduration' (0) and 'probesize' (5000000) options
Input #0, dv, from 'dv28.dv':
  Metadata:
    timecode        : 00:00:00:00
  Duration: 00:02:16.64, start: 0.000000, bitrate: 28800 kb/s
  Stream #0:0: Video: dvvideo, none, 25000 kb/s, SAR 16:15 DAR 0:0, 25 fps, 25 tbr, 25 tbn
  Stream #0:1: Audio: pcm_s16le, 48000 Hz, stereo, s16, 1536 kb/s
Unsupported codec with id 24 for input stream 0


1) ffmpeg encoding DV to MPEG-2 video and copy PCM audio as is to a VOB/MPG format:

ffmpeg -i dv28.dv -c:v mpeg2video -refs 1 -bf 2 -b:v 8M -maxrate 8M -minrate 8M -bufsize 20M -muxrate 11M -dc 10 -c:a pcm_s16be -f vob -flags +ilme+ildct dv28.mpg
.............
a lot of warning messages
[vob @ 0x55b227ae4240] packet too large, ignoring buffer limits to mux it
[vob @ 0x55b227ae4240] buffer underflow st=1 bufi=6744 size=7680
..................
frame= 3416 fps=400 q=3.6 Lsize=  161296kB time=00:02:16.64 bitrate=9670.2kbits/s speed=  16x    
video:133611kB audio:25620kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: 1.296714%

I've tried various bufsizes and muxrate sizes, but still the warning messages arise. Suggestions?

ffprobe -hide_banner dv28.mpg
Input #0, mpeg, from 'dv28.mpg':
  Duration: 00:02:16.64, start: 0.540000, bitrate: 9670 kb/s
  Stream #0:0[0x1e0]: Video: mpeg2video (Main), yuv420p(tv, bottom first), 720x576 [SAR 16:15 DAR 4:3], 25 fps, 25 tbr, 90k tbn
    Side data:
      cpb: bitrate max/min/avg: 8000000/0/0 buffer size: 20004864 vbv_delay: N/A
  Stream #0:1[0xa0]: Audio: pcm_dvd, 48000 Hz, stereo, s16, 1536 kb/s

The resulting dv28.mpg file seems to playback fine with video and audio in ffplay and VLC

Afterwards I loaded it as input to tsMuxer, and muxed it to dv28.ts, in lack of a button to create an DVD ISO similar like simple Blu-ray ISO

du -sh dv28.*
470M    dv28.dv
158M    dv28.mpg
164M    dv28.ts

Any idea how to create a simple DVD iso with tsMuxer command line if possible, or with other tools?