Same problem here using 16.04 / kernel 4.4.0-42-generic (i686) and
external drive LaCie d2 Quadra, USB ID 059f:105e

I get random hangs under heavy traffic, during rsync from one external USB 
drive to another.
rsync just hangs during a transfer. Sometimes it recovers after a number of 
seconds, sometimes it never does and hangs there, possibly for hours.
dmesg contains then contains repeated error recovery sequences such as:

[ 2350.056247] usb 1-4.4: cmd cmplt err -2
[ 2350.128049] usb 1-4.4: reset high-speed USB device number 12 using ehci-pci
[ 2350.333548] scsi host8: uas_eh_bus_reset_handler success
[ 2381.032039] sd 8:0:0:0: [sdc] tag#1 uas_eh_abort_handler 0 uas-tag 2 
inflight: CMD 
[ 2381.032045] sd 8:0:0:0: [sdc] tag#1 CDB: Read(10) 28 00 95 5a 11 00 00 00 08 
[ 2381.032049] sd 8:0:0:0: [sdc] tag#0 uas_eh_abort_handler 0 uas-tag 1 
inflight: CMD 
[ 2381.032052] sd 8:0:0:0: [sdc] tag#0 CDB: Read(10) 28 00 00 00 00 00 00 00 20 
[ 2381.032079] scsi host8: uas_eh_bus_reset_handler start

Disabling uas worked the problem around. I still see some:

usb 1-4.4: reset high-speed USB device number 14 using ehci-pci

in dmesg but the disk recovers after the reset.

Additionally, disabling uas allows me to see the external disk SMART
data (including using Disks), something I couldn't do before and was
sorely missing in these circumstances!

The bottom line is that it seems under certain circumstances, uas is not
able to recover from errors.

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  Seagate external drive causes SCSI bus resets when UAS enabled

Status in linux package in Ubuntu:

Bug description:
  Seagate STEA1000400 external USB hard disk (USB ID 0bc2:2322) causes
  continuous SCSI bus resets by default. As a workaround, disabling UAS
  causes the device to work fine.

  To disable UAS, I created a file in /etc/modprobe.d with the following 
  options usb-storage quirks=0bc2:02322:u

  ProblemType: Bug
  DistroRelease: Ubuntu 16.04
  Package: ubuntu-release-upgrader-core 1:16.04.14
  ProcVersionSignature: Ubuntu 4.4.0-22.40-generic 4.4.8
  Uname: Linux 4.4.0-22-generic x86_64
  ApportVersion: 2.20.1-0ubuntu2
  Architecture: amd64
  CrashDB: ubuntu
  Date: Sun May 22 22:02:26 2016
  InstallationDate: Installed on 2012-10-07 (1323 days ago)
  InstallationMedia: Ubuntu 12.04.1 LTS "Precise Pangolin" - Release amd64 
  PackageArchitecture: all
   PATH=(custom, no user)
  SourcePackage: ubuntu-release-upgrader
  Symptom: ubuntu-release-upgrader
  UpgradeStatus: Upgraded to xenial on 2016-04-09 (43 days ago)

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