"kernel: failed command: WRITE FPDMA QUEUED" disk errors

Issue

We have a number of servers logging the below error messages. The application appears to be having issues too.

kernel: ata2.00: failed command: WRITE FPDMA QUEUED
kernel: ata2.00: cmd 61/08:08:b0:1c:0c/00:00:0c:00:00/40 tag 1 ncq 4096 out
kernel:         res 40/00:00:00:00:00/00:00:00:00:00/00 Emask 0x4 (timeout)
kernel: ata2.00: status: { DRDY }