You would need to view the drive's Grown Defect List (G-list). That's usually not accessible via standard ATA commands but most drives provide such info via a debug terminal or via Vendor Specific ATA commands (VSCs).
WDMarvel (WD) and SHTR (Samsung) have demo versions which are able to display this info. Seagate's G-list can be viewed via its serial terminal, at least in older models.