This issue is resolved in VMware NSX-T Data Center 2.5.2
This issue is resolved in VMware NSX-T Data Center 3.0.1
Workaround:
The error condition can be cleared by performing these steps on the NSX-T Managers sequentially
1. ssh to NSX-T Manager as admin user
2. > stop service controller
3. > start service controller
4. > get cluster status
5. Confirm the Controller cluster comes back up before proceeding to the next Manager