I don't know, what exactly is wrong with the drive, but the log you posted, contains:
So obviously something is wrong with hdc.<3> Buffer I/O error on device hdc, logical block 641
<3> Buffer I/O error on device hdc, logical block 642
<3> Buffer I/O error on device hdc, logical block 643
maybe the drive itself, maybe the DVD, or maybe a bug in the firmware with some special codesequences in Muppy.
I just could post wild guesses without profound background.
So I suggest to see it from the practical point of view.
Copy msy_084.sfs as described above to your disk.
This should allow, to exclude potential errors with the CD drive.
If it works now, you have at least a working solution, and we know, that there is some error with DVDs in seldom cases.
If anybody then has an idea, how to encircle the error further, please let us know.
Mark