Unfortunately, I don't do much with HP so am unfamiliar with their BIOS's. I would assume that switching it to AHCI will cause a problem as the automation OS's more than likely won't have the appropriate drivers as well as your target OS (XP...XP has to be installed with the driver...F6 during setup...in order to work with the AHCI setting).
One other item you might try is to format the disk on that computer prior to imaging it. I have seen some cases, especially when the drive is replaced by a refurbished unit under warranty, that RDEPLOY and GHOST both have a hard time working with it. To do this as a test to know where you stand, I would just boot off of an XP CD and start the setup (where you partition the drive and quick format NTFS). Once you have done this, try doing your original task. If it works, you know that the drive did not have any sort of table or structure on it. If it doesn't work (i.e. XP setup does not see the drive), you may need to contact HP for guidance on what drivers are needed in both your target OS and your automation OS.