it seems to me that the last firmware applied to my cd drive solved the
issue.

wolfmanjm:
>>Although it is odd that if I boot in single user mode, the drive does not 
>>give these errors, so it could be something in hald or another daemon (maybe 
>>smartd?) is interacting?

yes, I believe hal is interacting with the devices and trigger the
freeze.

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Hard disk I/O randomly freezes when hald is running and optical drive is empty
https://bugs.launchpad.net/bugs/84603
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