Extracting data from MPEG Transport Stream to playback in VLC

I am looking for a way to extract the data portion of a MPEG Transport Stream in a pcap file from the command line. The pcap file is very large 10 GB plus.

I know how to extract the data from the Wireshark GUI. Follow UDP stream and use the save raw command. I just need a way to do that from the command line.

Thank you