Hey guys, 
I have the same issue here. It seems to be either card or driver specific.
http://ubuntuforums.org/showthread.php?t=649769

I have an ASUS M51Sn with a 4965AGN card that does not automatically connect.
Im running 9.04 completely updated using wicd 1.5.9. I have to open wicd then 
add the hidden network and then hit 'connect'. Connection settings are saved.
I had the same issue using the network-manager.

My house mate has an eeepc with the netbook install  who can use
network-manager to join automatically.

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[orinoco][intrepid] Network Manager does not reconnect to hidden SSID after 
reboot
https://bugs.launchpad.net/bugs/295796
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