RMAN-00600: internal error, arguments [8201] [] [] [] [] while doing the database restore

This error occurs if for some reason that resync catalog did not happen. 

So solution is do it. See below:

RMAN> run {
2> allocate  channel ch1 type 'sbt_tape'
3> PARMS="SBT_LIBRARY=/local/Base64/libobk.so,BLKSIZE=262144,ENV=(CV_mmsApiVsn=2,CV_channelPar=ch1)"
4> TRACE 0;
5> restore database;
6> }
allocated channel: ch1
channel ch1: SID=460 device type=SBT_TAPE
channel ch1: CommVault Systems for Oracle: Version 10.0.0(BUILD116)
Starting restore at 10-FEB-16
released channel: ch1
RMAN-00571: ===========================================================
RMAN-00569: =============== ERROR MESSAGE STACK FOLLOWS ===============
RMAN-00571: ===========================================================
RMAN-03002: failure of restore command at 02/10/2016 10:04:52
RMAN-00600: internal error, arguments [8201] [] [] [] []
RMAN> 

The solution is log on to the database server and then resync using

$: rman target / catalog rman/password@rcat
Recovery Manager: Release 11.1.0.7.0 - Production on Fri Feb 10 10:16:32 2016
Copyright (c) 1982, 2007, Oracle.  All rights reserved.
connected to target database: TESTDB1 (DBID=5432652134)
connected to recovery catalog database
RMAN> show all;
database reset to incarnation 245687
starting full resync of recovery catalog
full resync complete
RMAN configuration parameters for database with db_unique_name TESTDB1 are:
CONFIGURE RETENTION POLICY TO REDUNDANCY 1; # default
CONFIGURE BACKUP OPTIMIZATION OFF; # default
CONFIGURE DEFAULT DEVICE TYPE TO DISK; # default
CONFIGURE CONTROLFILE AUTOBACKUP ON;
CONFIGURE CONTROLFILE AUTOBACKUP FORMAT FOR DEVICE TYPE DISK TO '%F'; # default
CONFIGURE DEVICE TYPE DISK PARALLELISM 1 BACKUP TYPE TO BACKUPSET; # default
CONFIGURE DATAFILE BACKUP COPIES FOR DEVICE TYPE DISK TO 1; # default
CONFIGURE ARCHIVELOG BACKUP COPIES FOR DEVICE TYPE DISK TO 1; # default
CONFIGURE MAXSETSIZE TO UNLIMITED; # default
CONFIGURE ENCRYPTION FOR DATABASE OFF; # default
CONFIGURE ENCRYPTION ALGORITHM 'AES128'; # default
CONFIGURE COMPRESSION ALGORITHM 'BZIP2'; # default
CONFIGURE ARCHIVELOG DELETION POLICY TO BACKED UP 1 TIMES TO 'SBT_TAPE';
CONFIGURE SNAPSHOT CONTROLFILE NAME TO '/dbfiles/TESTDB1/backups/control01.ctl';
RMAN>