I've had the same problem in Breezy with a Pioneer DVR-111D using
Verbatim 16x DVD+Rs.  I've had some problems with Dapper too, but
haven't testing fully. Dapper seems to use almost the same version of
dvd+rw-tools.

The issue is fixed in newer versions of the package. From
http://fy.chalmers.se/~appro/linux/DVD+RW/hcn.html -

  Newer Pioneer units fail to complete recording with "Device or resource 
busy"...      
  The issue was addressed in 6.0 release.

I downloaded and re-compiled version 6.1 from Debian testing, and it's
working fine for me.

Ben

-- 
Pioneer DVD bug + fix
https://launchpad.net/bugs/38842

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