Dub express is also a good transfer house in SF…www.dubexpress.com. They do all formats. You could also talk to Adams Video in Pacifica. He’d probably be less expensive than Gassers or Dub Express. I had a destroyed DV tape that he fixed for me a few years ago and then copied to DVD.
Keep in mind that DVD is compressed video. If you’re looking to preserve the resolution, you’d be best to put them to DV tape (like the mini-dv you use in a digital camera) just to keep them stored in an uncompressed up-to-date digital format and use the DVDs for viewing only. Barry’s suggestion of keeping the originals safe is important because the technology is constantly changing.