If I'm understanding your question, the camera only saves one frame every second. That's what "time lapse" is. So all the frames in between are never saved and don't exist. So the short answer to your question is: you don't.
Alternatively you can use the motion-activated parking mode, which records at the normal frame rate every time the camera sees motion. But there are "issues" related to that mode, mostly related to the amount of storage used.
Or stick with time-lapse, but if the G-sensors trigger an "event", it'll record at normal rate for one minute. But set the sensor trip point too low, and you're back to the problem of excessive recordings.