It is for sure some sort of kernel bug and/or deficiency, because

- a process should not get blocked for several minutes or more because
of an SCSI/ATA controller or HDD I/O error, no matter what the
controller or HDD does (or doesn't do), it should get I/O error /
timeout

- md RAID other than level 0 should not hang for several minutes if one
component hangs - it should read from the other components and try to
reset the one with the problem

I've also experienced frozen tasks in D+ state from several seconds up to 1-2 
minutes without any messages
logged - it might be well related to the same problem.

-- 
ata exception and hang when booting, at T=n.81606 s
https://bugs.launchpad.net/bugs/397096
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