Audible Books have their own DRM (Digital Rights Management) to try and prevent sharing and copying. So their books can only be burned to CD once. However, it is a none problem on their end that burning their books to CDs has issues. Because of this you can call audible and explain that you have tried to burn to CDs without success and you have only partially burned your book. They will then let you download a new copy which will give you permission to burn again. I have done this a few times with the same book as the burning process had a very high fail rate. Also, try slowing down the speed of your burn.
I hope this helps.