after searching forums for the solution to my problem for the last couple of 
days, I think I may have found what's causing freezes (at least for the SSD 
drives). I'm still testing it to check for 100% if this is the case, but for 
now I believe that freezes are caused by the driver using the NCQ to 
communicate with SSD (which is of course pointless - SSD drives don't need to 
optimze the order of disk operationsm apparently it causes some errors).
 
The point is that after disabling NCQ for the SSD the errors stoped occuring 
(I've not encountered any for about 48h - earlier te freezes happened  every 
couple of hours or even more often). 

To disable NCQ I added "libata.force=5:noncq" to default kernel options
in /etc/default/grub like this:

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash libata.force=5:noncq"

and updated grub.

I used "5:" because  errors i saw occured with ata5 info in dmesg - in
original report to this bug it was ata6, as you can see above, but it
changed to ata5, probably because I was switching ports on my
motherboard.

if anyone experience similar bug, please try this solution and report
here.

credits for the solution go to:
http://ubuntuforums.org/showpost.php?p=10480137&postcount=8

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https://bugs.launchpad.net/bugs/550559

Title:
  hdd problems, failed command: READ FPDMA QUEUED

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