Not using ubuntu, but using OpenSuse 11.2 (2.6.31.12-0.2-desktop) and the only think I have to do once I get the cable plugged in is turn on the usb storage option on the phone. The phone prompts me and linux auto mounts it.
If this isn't happening for you, I'd check /var/log/messages to see what your box says when you connect it.
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