This sounds like a missing MODULE_DEPEND() issue or your pendrive is returning 
an error code to some of the SCSI commands which is not handled properly.

Could you add these options to the kernel config file:

options         KDB                     # Kernel debugger related code
options         KDB_TRACE               # Print a stack trace for a panic

Then get full backtrace.

Is this issue reproducable. I cannot reproduce over here using a 9-stable 
GENERIC kernel without "device umass".

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