I guess this is not a problem of nautilus-cd-burner but the error is in hal 
(libhal1 or hal1).
Check if you can select in the nautilus-burn dialog an appropiate speed. For me 
it isn't possible since Gutsy, only weird speed selections beginning with 9x. 
Therefore the error gets produced.

See this bug report:
https://bugs.launchpad.net/ubuntu/+source/hal/+bug/67034

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nautilus-cd-burner wrongly reports burn failure
https://bugs.launchpad.net/bugs/86431
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