Well, I was experimenting and tried some encoding options in DVDFab. I selected no deinterlace and 2 pass encoding. The file created plays fine on the Tivo. Fast forward, rewind, etc. work well now. And the file size is a reasonable 500 MB instead of the 2 GB for the MPEG-2 file. I did not experiment to determine which of the options made the difference because I don't really care how long the encoding takes, so I'll just stick with these settings.