Reported here https://github.com/bitcoin/bitcoin/pull/12629#issuecomment-381095603 by @Empact.  I've seen it now in a few different travis jobs, including:

https://travis-ci.org/bitcoin/bitcoin/jobs/366157920
https://travis-ci.org/bitcoin/bitcoin/jobs/366139851

From my initial investigation it seems like there may be an actual bug in block announcement, so I'm  opening this issue to track.
AssertLockHeld(cs_main);
    int nHeight = pindex->nHeight;
    
    BlockMap::iterator it = mapBlockIndex.begin();
    while (it != mapBlockIndex.end()) {
        if (!it->second->IsValid() && it->second->GetAncestor(nHeight) == pindex) {
            it->second->nStatus &= ~BLOCK_FAILED_MASK;
            setDirtyBlockIndex.insert(it->second);
            if (it->second->IsValid(BLOCK_VALID_TRANSACTIONS) && it->second->nChainTx && setBlockIndexCandidates.value_comp()(chainActive.Tip(), it->second)) {
                setBlockIndexCandidates.insert(it->second);
            }
            if (it->second == pindexBestInvalid) {
                
                pindexBestInvalid = nullptr;
            }
            g_failed_blocks.erase(it->second);
        }
        it++;
    }
    
    while (pindex != nullptr) {
        if (pindex->nStatus & BLOCK_FAILED_MASK) {
            pindex->nStatus &= ~BLOCK_FAILED_MASK;
            setDirtyBlockIndex.insert(pindex);
        }
        pindex = pindex->pprev;
    }
    return true;
}
bool ResetBlockFailureFlags(CBlockIndex *pindex) {