Same for me on Ata disk

[ 4946.800000] ata1.00: exception Emask 0x0 SAct 0x0 SErr 0x0 action 0x2 frozen
[ 4946.800000] ata1.00: cmd c8/00:08:dc:e0:03/00:00:00:00:00/ea tag 0 cdb 0x0 
data 4096 in
[ 4946.800000]          res 40/00:00:00:00:00/00:00:00:00:00/00 Emask 0x4 
(timeout)
[ 4953.804000] ata1: port is slow to respond, please be patient (Status 0xd0)
[ 4976.820000] ata1: port failed to respond (30 secs, Status 0xd0)
[ 4976.820000] ata1: soft resetting port
[ 4976.984000] ata1.00: ata_hpa_resize 1: sectors = 312581808, hpa_sectors = 
312581808
[ 4976.992000] ata1.00: ata_hpa_resize 1: sectors = 312581808, hpa_sectors = 
312581808
[ 4976.992000] ata1.00: configured for UDMA/100
[ 4976.992000] ata1: EH complete
[ 4976.996000] SCSI device sda: 312581808 512-byte hdwr sectors (160042 MB)
[ 4976.996000] sda: Write Protect is off
[ 4976.996000] sda: Mode Sense: 00 3a 00 00
[ 4976.996000] SCSI device sda: write cache: enabled, read cache: enabled, 
doesn't support DPO or FUA

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Hard disk I/O randomly freezes when hald is running and optical drive is empty
https://bugs.launchpad.net/bugs/84603
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