All that I saw in your logs is:

  [176710.082557] ata5.01: exception Emask 0x0 SAct 0x0 SErr 0x0 action 0x6 
frozen
  [176710.082574] ata5.01: cmd a0/00:00:00:00:00/00:00:00:00:00/b0 tag 0
  [176710.082576]          cdb 00 00 00 00 00 00 00 00  00 00 00 00 00 00 00 00
  [176710.082578]          res 40/00:02:00:08:00/00:00:00:00:00/a0 Emask 0x4 
(timeout)
  [176710.082581] ata5.01: status: { DRDY }
  [176710.082603] ata5: soft resetting link
  ...
  [176710.540344] ata5: EH complete

But ata5 is not your hard drive:

  [    6.322751] ata5.00: ATAPI: ATAPI   DVD A  DH20A4H, QP53, max UDMA/66
  [    6.322766] ata5.01: ATAPI: TDK     CDRW401240B, Z7SB, max UDMA/33

Do you know which hard drive is causing the problem, and do you have log
entries for it?  For example, although you don't have one, I know that
there are known issues with the Seagate 1.5TB drive, and I see similar
reports on the net, e.g.,

  http://lkml.org/lkml/2007/6/23/250
  http://lkml.org/lkml/2007/11/1/396

One of those pointed to http://lkml.org/lkml/2007/4/18/32, which
discussed drives whose implementation is defective.

-- 
SATA timeout during heavy disk activity
https://bugs.launchpad.net/bugs/309901
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