RHEL6.6: system crashed with error 'kernel BUG at drivers/ata/libata-sff.c:1453!'

Issue

• The Virtual machine was crashed while accessing cd-rom drive and following error messages were observed in logs prior to the kernel panic:

  sr 1:0:0:0: CDB: Test Unit Ready: 00 00 00 00 00 00
  ata2.00: cmd a0/00:00:00:00:00/00:00:00:00:00/a0 tag 0
           res 51/20:03:00:00:00/00:00:00:00:00/a0 Emask 0x5 (timeout)
  ata2.00: status: { DRDY ERR }
  ata2: soft resetting link
  ata2.00: configured for UDMA/33
  ata2: EH complete
  ata2: lost interrupt (Status 0x58)
  :
  ------------[ cut here ]------------
  kernel BUG at drivers/ata/libata-sff.c:1453!
  :
  Process ata/2 (pid: 43, threadinfo ffff880435ad2000, task ffff880435ad1580)
  Stack:
   ffff880435ad3db0 0000000000000000 ffff880435ad3df0 ffffffff81069b84
  <0> ffff880430170180 0000000181275daa ffff880430170000 ffff880430170000
  <0> ffff8804301700d0 0000000000000004 ffff880435ad3fd8 ffff880028319388
  Call Trace:
   [<ffffffff81069b84>] ? warn_slowpath_common+0x94/0xc0
   [<ffffffff81380a83>] ata_pio_task+0x73/0x110
   [<ffffffff81380a10>] ? ata_pio_task+0x0/0x110
   [<ffffffff8108b2b0>] worker_thread+0x170/0x2a0
   [<ffffffff81090bf0>] ? autoremove_wake_function+0x0/0x40
   [<ffffffff8108b140>] ? worker_thread+0x0/0x2a0
   [<ffffffff81090886>] kthread+0x96/0xa0
   [<ffffffff8100c14a>] child_rip+0xa/0x20
   [<ffffffff810907f0>] ? kthread+0x0/0xa0
   [<ffffffff8100c140>] ? child_rip+0x0/0x20
  Code: 89 f6 e8 f7 f2 16 00 eb 7c 80 e2 08 b8 01 00 00 00 0f 84 97 00 00 00 b8 01 00 00 00 e9 1e ff ff ff 83 f8 03 74 23 83 f8 04 74 40 <0f> 0b 90 eb fd 41 0f b6 d6 f6 c2 08 0f 85 c4 03 00 00 41 c7 84 
  RIP  [<ffffffff8138009d>] ata_sff_hsm_move+0x13d/0x740
   RSP <ffff880435ad3da0>