I'm sure others will post more specific info on this. But here's the general gist of what is needed. You'll need to purchase a decent video-capture card (something with more than just coax inputs!) and software to convert video files into DVD format.
Once purchased and installed, it's just a simple of matter of "capturing" whatever content you wish to transfer from your 522 to your computer and then convert/burn that file into a DVD.
I think webbydude was right. Isn't "real time" second for second, minute for minute? In that case, DVD burning in real time is the only option, since the DVR files can't be burned directly. They can only be burned as you feed them into a set top DVD burner as if you were watching them through your TV (maybe you are).