MMm.. you're right.
I just now looked at the full dmesg you posted,
and those are NOT media errors.
It looks like NCQ commands are behaving strangely for some reason
in your 2.6.36 kernel.
Can you retest with, say, 2.6.34 ?
There were a number of sata_mv updates in between,
and I'm wondering if perhaps one of them broke something?
Or if you just want to stabilize things, then turn off NCQ.