I haven't experienced this problem since doing two things:

 1) Switching to a SATA hard drive with a separate controller card.  However, 
this just caused my machine to lock up randomly without printing any useful 
messages...
 2) Upgrading my kernel to 2.6.32-10 from Lucid.  This has (so far, knock on 
wood) fixed all of my hanging and stability issues.

I think there is something very wrong with 64-bit 2.6.31 on older AMD
processors and VIA chipsets, from the sounds of it...

-- 
BUG: soft lockup - CPU#1 stuck for 61s! [hald-addon-stor:3486]
https://bugs.launchpad.net/bugs/359653
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