Dunno if this will be any help, but I hope it is!
Here is how I authenticate with my wifi card without wicid (my interface is wlan0). The stuff in CAPS is stuff that needs to be filed in.
Throw this into a shell: iwconfig wlan0 essid NETWORK_ESSID key WIRELESS_KEY_IN_HEX
Optionally, if you dont want to use the hex key: iwconfig wlan0 essid NETWORK_ESSID key s:WIRELESS_KEY_IN_ASCII
Then obtain an ip with: dhclient wlan0
Or just try wicd after that association.