@Phillip Susi: That was a really interesting hint! Here are my results using
sudo sh -c "echo 'core' > /sys/power/pm_test"
1. GPU present (with Nvidia driver), fans kept running and machine was stuck 
(no ping, no keyboard, no video signal). dmesg after reboot:
http://pastebin.com/wpmxaU3C

2. No GPU present (but Nvidia driver still installed), it correctly suspended 
and resumed after a few seconds.
dmesg:
http://pastebin.com/UMt1aj2q

3. GPU present (Nvidia driver removed, nouveau driver installed), it correctly 
suspended and resumed after a few seconds.
dmesg:
http://pastebin.com/wC6VitEc

------
4. no echo "core"
GPU present, Nvidia driver removed, nouveau driver installed, regular 
pm-suspend ---> machine stuck and multiple reboots

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https://bugs.launchpad.net/bugs/760842

Title:
  Natty Narwhal/Sandy Bridge Suspend Fails

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