One way to do it (I think it’s the only way for DAA proprietary file format) is to use Linux version of PowerISO.

Get it from their website:

And extract it:
tar -zxvf poweriso.tar.gz

To convert from .daa to .iso format:

./poweriso convert myfile.daa -o myfile.iso -ot iso

To extract all contents from ISO, DAA or BIN image to temporary directory:

mkdir /tmp/myisocontent
./poweriso extract image.daa / -od /tmp/myisocontent -r

If you have multiple .daa files (001,002,…) simply point to the first one (001).