With the help of some folks in #freebsd on freenode, I have since been able to fix this problem. Here is the solution for future reference:

There is a bug in GELI that makes it corrupt data and panic kernels when certain non-standard settings are used. I had set the GELI sector size to 8192 and the AES key length to 256. After reinitializing GELI with sector size 4096 and AES key length 128, the problems have vanished. Even under extreme I/O load to the drive, the kernel does not panic and no data corruptions occur.
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