I think the only way is to rip the individual tracks into a folder,
then splice them together with a music editing program. If you don't
mind doing this in the command line, there is a program in
repositories (I think it's still there, but am not at home to check.)
called mp3wrap which was designed for splicing mp3s. It also
preserves the individual "track" data of the file, if needed to
resplit. A quick web search brought up this site:

http://ubuntuhowtos.com/howtos/merge_mp3

although the site above suggests listing every file to combine in the
command line, if you use the * (wildcard) in place of individual
filenames, it should splice all of the files into one (in the right
order) as long as they are chronologically/alphabetically named. In
the case of audio books, this is usually the case (i.e., they're
labled as track 1, track 2, etc.). You could run into an issue if
there are spaces in the file names (i.e., track 1, like in the
previous example) but there is a script available for converting all
spaces in a directory into an underscore, if needed. If you decide to
go with mp2wrap, and spaces are an issue, I or someone here can
probably help with that. (I've got the details I used to set that up
somewhere on my laptop)

Audacity (also available in the repos) is another option with a gui
for splicing the ripped files, but the learning curve is a little
steeper there, imo, as Audacity is designed as a full featured virtual
recording studio. But if you are not comfortable playing in the
terminal, it may be easier.

I'm not aware of a individual program that will rip all tracks
directly into a single mp3 file. However, my knowledge isn't that
broad on the subject...