From your report:
ata5: EH in ADMA mode, notifier 0x0 notifier_error 0x0 gen_ctl
0x1501000 status 0x400
ata5: CPB 0: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 1: ctl_flags 0x1f, resp_flags 0x2
ata5: CPB 2: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 3: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 4: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 5: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 6: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 7: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 8: ctl_flags 0x1f, resp_flags 0x2
ata5: CPB 9: ctl_flags 0x1f, resp_flags 0x2
ata5: CPB 10: ctl_flags 0x1f, resp_flags 0x2
ata5: CPB 11: ctl_flags 0x1f, resp_flags 0x2
ata5: CPB 12: ctl_flags 0x1f, resp_flags 0x2
ata5: CPB 13: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 14: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 15: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 16: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 17: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 18: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 19: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 20: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 21: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 22: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 23: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 24: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 25: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 26: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 27: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 28: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 29: ctl_flags 0x1f, resp_flags 0x1
ata5: CPB 30: ctl_flags 0x1f, resp_flags 0x1
ata5: Resetting port
ata5.00: exception Emask 0x0 SAct 0x1f02 SErr 0x0 action 0x2 frozen
ata5.00: cmd 60/40:08:8f:eb:67/00:00:03:00:00/40 tag 1 cdb 0x0 data
32768 in
res 40/00:00:00:00:00/00:00:00:00:00/00 Emask 0x4 (timeout)
ata5.00: cmd 60/08:40:17:eb:67/00:00:03:00:00/40 tag 8 cdb 0x0 data
4096 in
res 40/00:00:00:00:00/00:00:00:00:00/00 Emask 0x4 (timeout)
ata5.00: cmd 60/18:48:47:eb:67/00:00:03:00:00/40 tag 9 cdb 0x0 data
12288 in
res 40/00:00:00:00:00/00:00:00:00:00/00 Emask 0x4 (timeout)
ata5.00: cmd 60/08:50:77:eb:67/00:00:03:00:00/40 tag 10 cdb 0x0 data
4096 in
res 40/00:00:00:00:00/00:00:00:00:00/00 Emask 0x4 (timeout)
ata5.00: cmd 60/08:58:87:eb:67/00:00:03:00:00/40 tag 11 cdb 0x0 data
4096 in
res 40/00:00:00:00:00/00:00:00:00:00/00 Emask 0x4 (timeout)
ata5.00: cmd 60/48:60:d7:eb:67/00:00:03:00:00/40 tag 12 cdb 0x0 data
36864 in
res 40/00:00:00:00:00/00:00:00:00:00/00 Emask 0x4 (timeout)
ata5: soft resetting port
The CPB resp_flags 0x2 entries are ones where the drive has been sent
the request and the controller is waiting for a response. The timeout
is 30 seconds, so that means the drive failed to service those queued
commands for that length of time.
It may be that your drive has a poor NCQ implementation that can
starve some of the pending commands for a long time under heavy load?