acd0: FAILURE - MODE_SENSE_BIG timed out

[ice]

I have a problem when booting ,mounting cd's and installing freebsd.

It has not been fixed since freebsd 5.3-beta6 and up to stable
5.3-RELEASE-p5

This problem comes when installing/mounting/booting with cd/dvd burners
I have the same problem with my laptop.

Dump of dmesg: 

*SNIP*
ad0: 114473MB <ST3120023A/3.33> [232581/16/63] at ata0-master UDMA100
acd0: FAILURE - MODE_SENSE_BIG timed out
acd0: FAILURE - MODE_SENSE_BIG timed out
acd0: FAILURE - MODE_SENSE_BIG timed out
acd0: FAILURE - MODE_SENSE_BIG timed out
acd0: FAILURE - MODE_SENSE_BIG timed out
*SNIP*
acd0: FAILURE - TEST_UNIT_READY timed out
acd0: FAILURE - PREVENT_ALLOW timed out
acd0: FAILURE - TEST_UNIT_READY timed out
acd0: FAILURE - TEST_UNIT_READY timed out
acd0: FAILURE - PREVENT_ALLOW timed out
acd0: FAILURE - TEST_UNIT_READY timed out
acd0: FAILURE - PREVENT_ALLOW timed out
acd0: FAILURE - TEST_UNIT_READY timed out
acd0: FAILURE - TEST_UNIT_READY timed out
acd0: FAILURE - PREVENT_ALLOW timed out
acd0: FAILURE - TEST_UNIT_READY timed out
acd0: FAILURE - PREVENT_ALLOW timed out
acd0: FAILURE - TEST_UNIT_READY timed out
acd0: FAILURE - TEST_UNIT_READY timed out
acd0: FAILURE - PREVENT_ALLOW timed out
*SNIP*