libata timeouts when stressing a Samsung HDD

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If I use an ext3 filesystem with noatime I never see problems, but if I use XFS
with barriers and atime enabled, I keep getting this:

ata1.00: exception Emask 0x0 SAct 0x0 SErr 0x0 action 0x6 frozen
ata1.00: cmd ea/00:00:00:00:00/00:00:00:00:00/a0 tag 0
         res 40/00:00:00:00:00/00:00:00:00:00/00 Emask 0x4 (timeout)
ata1.00: status: { DRDY }
ata1: hard resetting link
ata1: SATA link up 3.0 Gbps (SStatus 123 SControl 300)
ata1.00: configured for UDMA/133
end_request: I/O error, dev sda, sector 13851948


The errors always happen in the XFS log which then causes filesystem shutdown.

The drive reports itself as:
ata1: SATA link up 3.0 Gbps (SStatus 123 SControl 300)
ata1.00: ATA-7: SAMSUNG HD160JJ/P, ZM100-34, max UDMA7
ata1.00: 312500000 sectors, multi 8: LBA48 NCQ (depth 31/32)
ata1.00: configured for UDMA/133

Kernel is 2.6.27.12, using the ahci driver on this hardware:
Intel Corporation 82801GR/GH (ICH7 Family) SATA AHCI Controller
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