STATUS_DEVICE_NOT_READY after changing CDs

To reproduce:

• install ROS
• in 3rd stage, open explorer
• open the CDROM drive - correctly displays contents
• close explorer, insert a different CD image (e.g. press Host+D for the VBox additions CD)
• open the CD drive in explorer again - it's empty. Log says c00000a3 (STATUS_DEVICE_NOT_READY)

I've installed Guest additions before taking the log (cd-not-ready.log), but that shouldn't make a difference.

I've tried with three different VM configs:

• HDD on AHCI, CD has Secondary Master on ICH6
• HDD on AHCI, CD has Secondary Master on PIIX3
• both HDD (Primary Master) and CD (Secondary Master) on PIIX3