I initially thought the burning program made a difference (perhaps
something to do with the disc format) but now I suspect it is just an
intermittent problem.

One of the discs I had trouble with now mounts quickly with the
automounter.

When it mounts I now see the following in the messages log:

Mar 17 17:35:50 dart kernel: [ 2851.200673] cdrom: sr0: mrw address space DMA 
selected
Mar 17 17:35:50 dart kernel: [ 2851.202951] cdrom open: mrw_status 'not mrw'
Mar 17 17:35:50 dart kernel: [ 2851.241371] cdrom: sr0: mrw address space DMA 
selected
Mar 17 17:35:50 dart kernel: [ 2851.243597] cdrom open: mrw_status 'not mrw'
Mar 17 17:35:50 dart kernel: [ 2851.366621] UDF-fs: No VRS found

.......... Is this normal behaviour?

-- 
CD/RW Mount Problems with Intrepid
https://bugs.launchpad.net/bugs/293570
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