I have the same problem with my 2.6.20-15-386 kernel (I'm running feisty).  The 
2.6.17 kernel was fine on this front.
I don't see any ill effects but my computer takes a long time to boot because 
the error message
repeats so many times before giving up.  Here's an example of what it looks 
like:

[   39.356000] ata2: DRQ=1 with device error, dev_stat 0x59
[   39.356000] ata2.00: exception Emask 0x0 SAct 0x0 SErr 0x0 action 0x2 frozen
[   39.356000] ata2.00: (BMDMA stat 0x25)
[   39.356000] ata2.00: cmd a0/01:00:00:00:00/00:00:00:00:00/a0 tag 0 cdb 0x28 
data 2048 in
[   39.356000] ata2: soft resetting port
[   39.840000] ata2.00: configured for UDMA/33
[   39.840000] ata2: EH complete

I've attached my dmesg grepped for "ata"

** Attachment added: "dmesg grepped for "ata""
   http://librarian.launchpad.net/7334836/dmesgATA.txt

-- 
kernel.log syslog filling up with repeated ata2 and cdrom messages
https://bugs.launchpad.net/bugs/95105
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