There's a difference between it having the USB stack enabled (which release builds, 3.x, do not) and it understanding that you've plugged in the USB cable.
Release builds detect that you have connected USB, then reboot to Apple's emergency disk mode, the screen you mention. Builds with our USB stack enabled just stay with the Rockbox USB plug picture, and USB file transfer is handled by our code, not Apple's.
Did you have the hold switch turned on when you were doing this? When you unplug from Apple's disk mode, it will reboot the ipod: so if the hold switch is turned on the bootloader will boot Apple's firmware, just as if you had the hold switch turned on at poweron normally. If the hold switch was off then it should've booted back to Rockbox; not doing so would be a bug.