cdparanoia started as a patch on a cdda2wav from 1997 and never updated the cdda2wav code. Since 2002, there is no visible activity on the project.
cdrdao was a similar short running project, founded in 1998 and no new features since at least 2004. There was never special support for bad media.
cdda2wav started in 1993 and is still actively maintained. In 2002, the "lib paranoia" was taken, made portable and enhanced over the years. Libparanoia is integrated into the maintained cdda2wav since 2002.
I recommend to use:
cdda2wav -vall paraopts=proof speed=4 cddb=0 -B
and to check the statistical reports for each extracted track.
BTW: if your drive supports reading C2 pointers, use:
cdda2wav -vall paraopts=proof,c2check speed=4 cddb=0 -B
this does a lot more than the latest cdparanoia version did. Please read
the man page to understand the error reports from libparanoia.
Note: due to a bug in cdparanoia, there are situations, where the error reports from cdparanoia miss problems that are reported by cdda2wav, so do not believe cdparanoia was more successful than cdda2wav just because it reports less problems.
An audio CD doesn't contain a filesystem at all. The format is defined as a particular stream of bits directly representing sounds. This is unlike DVDs, where a video DVD is a DVD with a UDF filesystem with a particular structure.
The classical CD burning suite, cdrecord, includes cdda2wav to rip an audio CD to a WAV file, and cdrecord -audio to burn a WAV file to an audio CD. Another tool for CD ripping is cdparanoia; it tries very hard to be as faithful as possible to the audio data. Many CD burning GUIs have a button or menu entry to rip, burn or copy audio CDs.
Best Answer
cdparanoia can attempt to rip the audio data to a null device, and as a side effect tell you how damaged the discs are.