Too Pee or Not To Pee. . . .Bottoms Up!
As your body gets more dehydrated, your urine gets more and more concentrated (thicker) and contains more sulfur, sodium (salt), bile proteins, etc., that are extracted from the blood, intestinal waste, and body moisture (from the lungs, skin, etc.) The little moisture in the urine would do nothing to hydrate your body. In fact it would cause the organs in the body to begin shutting down, not to mention the fact, that it will expedite dehydration. And drinking urine will cause bile in the stomach and intestinal tract that can, and most likely, will cause cramping, which in turn will expedite dehydration through the muscles of the stomach working through contraction. Anytime the muscles have to work hard, moisture is extracted exponentially. And if the concentrated urine were drunk, it would cause any further urine to be even more concentrated and worsen your condition, and most likely cause septic shock (which will kill you!)
When a person is properly hydrated, urine is sterile, but still should not be drunk, unless distilled or filtered!
It is possible to extract water (from urine), through distillation, or filtration, i.e; solar still or through sand, respectively, and that can be drunk to help in hydration.
The Discovery channel does not claim that you can drink urine. Man -v- Wild, more succinctly, Bear Grylls, makes claim that you can drink urine. Discovery is somewhat protected through the disclaimer that is posted, at the beginning and throughout, the M -v- W episodes.