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This seems a typical issue caused by a bad burned disc. Most of times this is due to a low quality disc or to the wrong burning speed selected.
Try again to burn using a proven quality disc like Verbatim (a 16x disc usually gives the best results if burned at 12x or 8x).
To further improve results, you can also use a +R disc and change the booktype in ROM (if your burner allow this).
This should solve