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the manual specifies that if you select for recording the FR mode the machine automatically adjusts the recording mode for the program to fit on a 4.7G dvd. If you use a dvd DL if will auto detect that you have this type of dvd and the FR mode will automatically allow you to make full use of the available space. Depending on the space needed on the dvd the picture quality will be good to excellent (refer in the manual to Recording Modes..)
This is where I found mine at: www.ilohelp.com click on the link "downloads" on the left side, then the second drop menu says "model" choose the 'dvdr04' option. This will take you to the page with the mauals in .pdf format, and all the firmware updates.