Same bug here on my asus a8jc. (feisty kernel 2.6.20-15.27)

[220073.844000] SCSI device sda: 195371568 512-byte hdwr sectors (100030 MB)
[220073.844000] sda: Write Protect is off
[220073.844000] sda: Mode Sense: 00 3a 00 00
[220073.848000] SCSI device sda: write cache: enabled, read cache: enabled, 
doesn't support DPO or FUA
[220643.280000] ata1.01: exception Emask 0x0 SAct 0x0 SErr 0x0 action 0x2 frozen
[220643.280000] ata1.01: cmd a0/01:00:00:00:00/00:00:00:00:00/b0 tag 0 cdb 0x25 
data 8 in
[220643.280000]          res 40/00:03:00:00:00/00:00:00:00:00/b0 Emask 0x4 
(timeout)
[220650.284000] ata1: port is slow to respond, please be patient (Status 0xd0)
[220673.300000] ata1: port failed to respond (30 secs, Status 0xd0)
[220673.300000] ata1: soft resetting port
[220673.648000] ata1.00: ata_hpa_resize 1: sectors = 195371568, hpa_sectors = 
195371568
[220673.656000] ata1.00: ata_hpa_resize 1: sectors = 195371568, hpa_sectors = 
195371568
[220673.660000] ata1.00: configured for UDMA/100
[220673.844000] ata1.01: configured for UDMA/25
[220673.844000] ata1: EH complete
[220673.848000] SCSI device sda: 195371568 512-byte hdwr sectors (100030 MB)
[220673.848000] sda: Write Protect is off
[220673.848000] sda: Mode Sense: 00 3a 00 00
[220673.848000] SCSI device sda: write cache: enabled, read cache: enabled, 
doesn't support DPO or FUA

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Hard disk I/O randomly freezes when hald is running and optical drive is empty
https://bugs.launchpad.net/bugs/84603
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