I have the same problem with my ath9k based card, relevant output here:

[  637.402607] ath9k 0000:09:00.0: PCI INT A -> GSI 16 (level, low) -> IRQ 16
[  637.838534] phy2: Selected rate control algorithm 'ath9k_rate_control'
[  637.839418] cfg80211: Calling CRDA for country: CN
[  637.839783] Registered led device: ath9k-phy2::radio
[  637.839936] Registered led device: ath9k-phy2::assoc
[  637.839961] Registered led device: ath9k-phy2::tx
[  637.839973] Registered led device: ath9k-phy2::rx
[  637.839979] phy2: Atheros AR5416 MAC/BB Rev:2 AR2133 RF Rev:81: 
mem=0xffffc20010140000, irq=16
[  637.841997] cfg80211: Current regulatory domain intersected: 
[  637.841999]  (start_freq - end_freq @ bandwidth), (max_antenna_gain, 
max_eirp)
[  637.842002]  (2402000 KHz - 2482000 KHz @ 40000 KHz), (N/A, 2000 mBm)
[  642.093290] ADDRCONF(NETDEV_UP): wlan0: link is not ready
[  652.994297] wlan0: authenticate with AP ffff88018559eac0
[  652.996169] wlan0: authenticated
[  652.996172] wlan0: associate with AP ffff88018559eac0
[  653.000218] wlan0: RX AssocResp from ffff88018593e04a (capab=0x431 status=0 
aid=1)
[  653.000221] wlan0: associated
[  653.005769] ADDRCONF(NETDEV_CHANGE): wlan0: link becomes ready
[  653.043998] cfg80211: Calling CRDA for country: AT
[  653.046280] cfg80211: Current regulatory domain updated by AP to: AT
[  653.046282]  (start_freq - end_freq @ bandwidth), (max_antenna_gain, 
max_eirp)
[  653.046285]  (2402000 KHz - 2482000 KHz @ 40000 KHz), (N/A, 2000 mBm)
[  663.664105] wlan0: no IPv6 routers present
[  702.938987] wlan0: deauthenticated (Reason: 7)
[  703.936107] wlan0: direct probe to AP ffff88018559eac0 try 1
[  703.942425] wlan0 direct probe responded
[  703.942428] wlan0: authenticate with AP ffff88018559eac0
[  703.944580] wlan0: authenticated
[  703.944582] wlan0: associate with AP ffff88018559eac0
[  703.948675] wlan0: RX ReassocResp from ffff88018583204a (capab=0x431 
status=0 aid=1)
[  703.948679] wlan0: associated
[  872.792174] wlan0: beacon loss from AP ffff88018559eac0 - sending probe 
request
[  874.792102] wlan0: no probe response from AP ffff88018559eac0 - 
disassociating


Also using backport-modules on jaunty. Seems, the problem is when 
re-associating takes more than 2 seconds. 

http://thread.gmane.org/gmane.linux.kernel.wireless.general/31690/focus=31691
talks a lot about this bug, and i think changing tha timeout from 2 to
10 seconds as a workaround might be a good interims solution, until a
proper fix lands in the wireless-git tree.

-- 
mac80211: WLAN losing connection: No ProbeResp
https://bugs.launchpad.net/bugs/200500
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