There was a discussion about this on the Key Forum a couple of years ago as several people wanted this on DVD. Yorkshire Television were contacted and said they had no plans to release the series on VHS or DVD. However one forum member had recorded the series on VHS and had offered to make copies on DVD for anyone. If you can trace that thread, you might be in luck!
There was a second series planned, using the Connie at Wroughton, but in the end nothing came of it. Great shame as the first series was very good.