Can someone explain to me how to copy music from a CD to a hard drive. Do I have to converted to MP3 or Wav? Can I copy it straight to a hard drive as CDA format?

I have a program that burns MP3 onto a CD and it automatically converts it to CDA. For some reason, it doesn't work on a regular CD player using CD-RW.

What is copy as:

Single Track Close(TAO)
Single Track Open(TAO)
Data Disc Close(DAO)
Data Disc Open(DAO)