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I just tested this (I put a DTS-HDMA track into an mkv and added to ripbot)
ripbot demuxed the track from the mkv and generated the job screen
It references the demuxed track and has a copy stream option
I checked the demuxed track itself, it is in fact still DTS-HDMA (i.e. not wav or flac or dts core)
so dzirkelb is correct, if you have HD audio in an mkv ripbot will allow you to copy it
on a side note the 'gathering information' seemed to take forever, and I don't have have a slow pc
guess it had something to do with the 26GB VC-1 track
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