[SDBUG] How to recover a tape device?

[Pedro Moreno]

  Hi people.

  I have 1 tape device attached to a FreeBSD 6.2-Release box for bacula, 
sometimes i lost the connection with the device, doesn't answer me, this 
happend not to often, but nothing is perfect, my doubt is:
Once my console say:

Apr  4 12:25:46 bacula kernel: <<<<<<<<<<<<<<<<< Dump Card State Ends 
 >>>>>>>>>>>>>>>>>>
Apr  4 12:25:46 bacula kernel: (sa0:ahc0:0:3:0): SCB 0x10 - timed out
Apr  4 12:25:46 bacula kernel: (sa0:ahc0:0:3:0): no longer in timeout, 
status = 24b
Apr  4 12:25:46 bacula kernel: ahc0: target 3 using 8bit transfers
Apr  4 12:25:46 bacula kernel: ahc0: target 3 using asynchronous transfers
Apr  4 12:25:46 bacula kernel: ahc0: Issued Channel A Bus Reset. 1 SCBs 
aborted
Apr  4 12:25:46 bacula kernel: (sa0:ahc0:0:3:0): Command timed out
Apr  4 12:25:46 bacula kernel: (sa0:ahc0:0:3:0): error 5
Apr  4 12:25:46 bacula kernel: (sa0:ahc0:0:3:0): Retries Exausted
Apr  4 12:25:46 bacula kernel: (sa0:ahc0:0:3:0): tape is now frozen- use 
an OFFLINE, REWIND or MTEOM command to clear this state.
Apr  4 12:25:46 bacula kernel: ahc0: Timedout SCBs already complete. 
Interrupts may not be functioning.

What is the procedure to bring my device back? camcontrol or mt command 
and which steps and flags i have to follow? Hope to be clear...

 Device Ultruim-1 HP Storageworks 232, thanks for your time.