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Well, the best way to burn CDs to me is using a nice GUI like xcdroast, which does all the hard stuff for you I have never burned CDs from the command line, so I'm not sure what exactly you'd have to do there. I am fairly certain you need to create a filesystem on them first, otherwise it doesn't make much sense to put files on them (unless you're making an audio CD).
I burn cd's from the cli using cdrecord, mainly iso's, using the command cdrecord -v speed=2 dev=0,0,0 path to file. Not sure if it does mkisofs, but have never made a coaster yet.
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