Encountered this problem on lenny today, output:

# mt status
drive type = 114
drive status = 822084096
sense key error = 0
residue count = 0
file number = 0
block number = 0

After installing the mt-st package:

# mt status
SCSI 2 tape drive:
File number=0, block number=0, partition=0.
Tape block size 512 bytes. Density code 0x31 (AIT-2).
Soft error count since last status=0
General status bits on (45010000):
 BOT WR_PROT ONLINE IM_REP_EN

So in my case, installing mt-st resolved the issue. 

Additional version information:

# cat /etc/debian_version 
5.0.8
# dpkg -l | grep "cpio\|mt-st"
ii  cpio                                 2.9-13lenny1               GNU cpio -- 
a program to manage archives of 
ii  mt-st                                1.1-2                      Linux SCSI 
tape driver aware magnetic tape c




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