SEE UPDATE FOR THE ANSWER
KERNEL[50982.358011] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/bsg/0:0:0:0 (bsg)
ACTION=remove
DEVNAME=/dev/bsg/0:0:0:0
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/bsg/0:0:0:0
MAJOR=251
MINOR=0
SEQNUM=1095
SUBSYSTEM=bsg
KERNEL[50982.359131] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_generic/sg0 (scsi_generic)
ACTION=remove
DEVNAME=/dev/sg0
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_generic/sg0
MAJOR=21
MINOR=0
SEQNUM=1096
SUBSYSTEM=scsi_generic
KERNEL[50982.359731] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_device/0:0:0:0 (scsi_device)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_device/0:0:0:0
SEQNUM=1097
SUBSYSTEM=scsi_device
KERNEL[50982.361349] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_disk/0:0:0:0 (scsi_disk)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_disk/0:0:0:0
SEQNUM=1098
SUBSYSTEM=scsi_disk
KERNEL[50982.367606] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/block/sda/sda1 (block)
ACTION=remove
DEVNAME=/dev/sda1
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/block/sda/sda1
DEVTYPE=partition
MAJOR=8
MINOR=1
PARTN=1
SEQNUM=1099
SUBSYSTEM=block
KERNEL[50982.369279] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/block/sda (block)
ACTION=remove
DEVNAME=/dev/sda
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/block/sda
DEVTYPE=disk
MAJOR=8
MINOR=0
SEQNUM=1100
SUBSYSTEM=block
KERNEL[50982.370139] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0 (scsi)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0
DEVTYPE=scsi_device
MODALIAS=scsi:t-0x00
SEQNUM=1101
SUBSYSTEM=scsi
KERNEL[50982.410910] remove /devices/virtual/bdi/8:0 (bdi)
ACTION=remove
DEVPATH=/devices/virtual/bdi/8:0
SEQNUM=1102
SUBSYSTEM=bdi
KERNEL[50982.411476] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0 (scsi)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0
DEVTYPE=scsi_target
SEQNUM=1103
SUBSYSTEM=scsi
KERNEL[50982.412387] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/scsi_host/host0 (scsi_host)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/scsi_host/host0
SEQNUM=1104
SUBSYSTEM=scsi_host
KERNEL[50982.414188] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0 (scsi)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0
DEVTYPE=scsi_host
SEQNUM=1105
SUBSYSTEM=scsi
KERNEL[50982.415487] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0 (usb)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0
DEVTYPE=usb_interface
INTERFACE=8/6/80
MODALIAS=usb:v1058p10A2d1033dc00dsc00dp00ic08isc06ip50in00
PRODUCT=1058/10a2/1033
SEQNUM=1106
SUBSYSTEM=usb
TYPE=0/0/0
KERNEL[50982.419788] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2 (usb)
ACTION=remove
BUSNUM=001
DEVNAME=/dev/bus/usb/001/007
DEVNUM=007
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2
DEVTYPE=usb_device
MAJOR=189
MINOR=6
PRODUCT=1058/10a2/1033
SEQNUM=1107
SUBSYSTEM=usb
TYPE=0/0/0
UDEV [50982.973557] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/bsg/0:0:0:0 (bsg)
ACTION=remove
DEVNAME=/dev/bsg/0:0:0:0
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/bsg/0:0:0:0
MAJOR=251
MINOR=0
SEQNUM=1095
SUBSYSTEM=bsg
USEC_INITIALIZED=982359004
UDEV [50982.999940] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_device/0:0:0:0 (scsi_device)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_device/0:0:0:0
SEQNUM=1097
SUBSYSTEM=scsi_device
USEC_INITIALIZED=982362751
UDEV [50983.095057] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/block/sda/sda1 (block)
ACTION=remove
DEVLINKS=/dev/disk/by-id/usb-WD_Elements_10A2_575831314541323038393032-0:0-part1 /dev/disk/by-label/Steven /dev/disk/by-path/platform-3f980000.usb-usb-0:1.2:1.0-scsi-0:0:0:0-part1 /dev/disk/by-uuid/21741F4F6C4915E1
DEVNAME=/dev/sda1
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/block/sda/sda1
DEVTYPE=partition
ID_BUS=usb
ID_FS_LABEL=Steven
ID_FS_LABEL_ENC=Steven
ID_FS_TYPE=ntfs
ID_FS_USAGE=filesystem
ID_FS_UUID=21741F4F6C4915E1
ID_FS_UUID_ENC=21741F4F6C4915E1
ID_INSTANCE=0:0
ID_MODEL=Elements_10A2
ID_MODEL_ENC=Elements\x2010A2\x20\x20\x20
ID_MODEL_ID=10a2
ID_PART_ENTRY_DISK=8:0
ID_PART_ENTRY_NUMBER=1
ID_PART_ENTRY_OFFSET=2048
ID_PART_ENTRY_SCHEME=dos
ID_PART_ENTRY_SIZE=1953456128
ID_PART_ENTRY_TYPE=0x7
ID_PART_ENTRY_UUID=00023f15-01
ID_PART_TABLE_TYPE=dos
ID_PART_TABLE_UUID=00023f15
ID_PATH=platform-3f980000.usb-usb-0:1.2:1.0-scsi-0:0:0:0
ID_PATH_TAG=platform-3f980000_usb-usb-0_1_2_1_0-scsi-0_0_0_0
ID_REVISION=1033
ID_SERIAL=WD_Elements_10A2_575831314541323038393032-0:0
ID_SERIAL_SHORT=575831314541323038393032
ID_TYPE=disk
ID_USB_DRIVER=usb-storage
ID_USB_INTERFACES=:080650:
ID_USB_INTERFACE_NUM=00
ID_VENDOR=WD
ID_VENDOR_ENC=WD\x20\x20\x20\x20\x20\x20
ID_VENDOR_ID=1058
MAJOR=8
MINOR=1
PARTN=1
SEQNUM=1099
SUBSYSTEM=block
TAGS=:systemd:
USEC_INITIALIZED=8036767
UDEV [50983.126799] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_disk/0:0:0:0 (scsi_disk)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_disk/0:0:0:0
SEQNUM=1098
SUBSYSTEM=scsi_disk
USEC_INITIALIZED=982364537
UDEV [50983.136895] remove /devices/virtual/bdi/8:0 (bdi)
ACTION=remove
DEVPATH=/devices/virtual/bdi/8:0
SEQNUM=1102
SUBSYSTEM=bdi
USEC_INITIALIZED=982411342
UDEV [50983.138940] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_generic/sg0 (scsi_generic)
ACTION=remove
DEVNAME=/dev/sg0
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/scsi_generic/sg0
MAJOR=21
MINOR=0
SEQNUM=1096
SUBSYSTEM=scsi_generic
USEC_INITIALIZED=982360886
KERNEL[50983.194516] remove /devices/virtual/bdi/8:1-fuseblk (bdi)
ACTION=remove
DEVPATH=/devices/virtual/bdi/8:1-fuseblk
SEQNUM=1108
SUBSYSTEM=bdi
UDEV [50983.204265] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/scsi_host/host0 (scsi_host)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/scsi_host/host0
SEQNUM=1104
SUBSYSTEM=scsi_host
USEC_INITIALIZED=982413320
UDEV [50983.643690] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/block/sda (block)
ACTION=remove
DEVLINKS=/dev/disk/by-id/usb-WD_Elements_10A2_575831314541323038393032-0:0 /dev/disk/by-path/platform-3f980000.usb-usb-0:1.2:1.0-scsi-0:0:0:0
DEVNAME=/dev/sda
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0/block/sda
DEVTYPE=disk
ID_BUS=usb
ID_INSTANCE=0:0
ID_MODEL=Elements_10A2
ID_MODEL_ENC=Elements\x2010A2\x20\x20\x20
ID_MODEL_ID=10a2
ID_PART_TABLE_TYPE=dos
ID_PART_TABLE_UUID=00023f15
ID_PATH=platform-3f980000.usb-usb-0:1.2:1.0-scsi-0:0:0:0
ID_PATH_TAG=platform-3f980000_usb-usb-0_1_2_1_0-scsi-0_0_0_0
ID_REVISION=1033
ID_SERIAL=WD_Elements_10A2_575831314541323038393032-0:0
ID_SERIAL_SHORT=575831314541323038393032
ID_TYPE=disk
ID_USB_DRIVER=usb-storage
ID_USB_INTERFACES=:080650:
ID_USB_INTERFACE_NUM=00
ID_VENDOR=WD
ID_VENDOR_ENC=WD\x20\x20\x20\x20\x20\x20
ID_VENDOR_ID=1058
MAJOR=8
MINOR=0
SEQNUM=1100
SUBSYSTEM=block
TAGS=:systemd:
USEC_INITIALIZED=748036370
UDEV [50983.733473] remove /devices/virtual/bdi/8:1-fuseblk (bdi)
ACTION=remove
DEVPATH=/devices/virtual/bdi/8:1-fuseblk
SEQNUM=1108
SUBSYSTEM=bdi
USEC_INITIALIZED=3192262
UDEV [50984.141379] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0 (scsi)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0/0:0:0:0
DEVTYPE=scsi_device
MODALIAS=scsi:t-0x00
SEQNUM=1101
SUBSYSTEM=scsi
USEC_INITIALIZED=2371212
UDEV [50984.629455] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0 (scsi)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0/target0:0:0
DEVTYPE=scsi_target
SEQNUM=1103
SUBSYSTEM=scsi
USEC_INITIALIZED=2413053
UDEV [50985.087418] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0 (scsi)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0/host0
DEVTYPE=scsi_host
SEQNUM=1105
SUBSYSTEM=scsi
USEC_INITIALIZED=2415484
UDEV [50985.618300] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0 (usb)
ACTION=remove
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2/1-1.2:1.0
DEVTYPE=usb_interface
ID_MODEL_FROM_DATABASE=Elements SE Portable (WDBPCK)
ID_VENDOR_FROM_DATABASE=Western Digital Technologies, Inc.
INTERFACE=8/6/80
MODALIAS=usb:v1058p10A2d1033dc00dsc00dp00ic08isc06ip50in00
PRODUCT=1058/10a2/1033
SEQNUM=1106
SUBSYSTEM=usb
TYPE=0/0/0
USEC_INITIALIZED=5647475
UDEV [50986.078354] remove /devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2 (usb)
ACTION=remove
BUSNUM=001
DEVNAME=/dev/bus/usb/001/007
DEVNUM=007
DEVPATH=/devices/platform/soc/3f980000.usb/usb1/1-1/1-1.2
DEVTYPE=usb_device
ID_BUS=usb
ID_MODEL=Elements_10A2
ID_MODEL_ENC=Elements\x2010A2
ID_MODEL_FROM_DATABASE=Elements SE Portable (WDBPCK)
ID_MODEL_ID=10a2
ID_REVISION=1033
ID_SERIAL=Western_Digital_Elements_10A2_575831314541323038393032
ID_SERIAL_SHORT=575831314541323038393032
ID_USB_INTERFACES=:080650:
ID_VENDOR=Western_Digital
ID_VENDOR_ENC=Western\x20Digital
ID_VENDOR_FROM_DATABASE=Western Digital Technologies, Inc.
ID_VENDOR_ID=1058
MAJOR=189
MINOR=6
PRODUCT=1058/10a2/1033
SEQNUM=1107
SUBSYSTEM=usb
TYPE=0/0/0
USEC_INITIALIZED=745644833
UPDATE
Thanks to dirkt for finding the solution: Indeed the rules must be on a single line. This fixes the repeated script calls (if a unique variable is used) and now the script is only called when the device is disconnected. For me the following configuration did the trick:
ACTION=="remove", ENV{ID_FS_UUID}=="21741F4F6C4915E1", RUN+="/home/pi/HDD_removed.sh"