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The dvgrab utility made it into all standard distributions. It has been maintained by other developers since I left the Linux DV projects, it supports most modern DV camcorders (even HDTV) and it is still very useful today. see Debian install statistics:
The source code for dvgrab can be downloaded from http://www.from kinodv.org/article/static/1, the official dvgrab and Kino website. If you want to use it, it is probably easier to just install dvgrab by the package manager of your distribution.