I confirm the same crash bug in Kernel versions:

4.4.0-66-generic
4.4.0-64-generic
4.4.0-21-generic

I could not test with latest upstream kernel because I needed ZFS (I
looked into building it for latest upstream, but found no reasonable
path).

I can also confirm the crash is related to a drive with bad sectors. In my case 
a Seagate 2TB
ata-ST2000DM001-1ER164_Z4Z55RQ2

Once I removed that drive, the crashing stopped.

If I booted with drive offline, and then added it to a booted system, it
did not crash until I imported the ZFS pool.

I can try some simple tests with DD to confirm the crash in later or earlier 
kernels.
Since I do not want to break a now working system, any testing would be done 
booting a USB Flash image with only the failing drive connected to a sata_mv 
port.

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https://bugs.launchpad.net/bugs/1652185

Title:
  kernel BUG at /build/linux-
  7x12eW/linux-4.4.0/drivers/ata/sata_mv.c:2120!

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