The wiki has a concise quote by Andreas Hein, where the gap is defined by "the difference in meaning between constructs formed within different representation systems". This connotes the core problem of translating meaning between an informal language (typically natural language) and a formal language (programing language or other formal symbolic system).
Informally, the problem could be defined as "the gap in meaning between two different contexts", and we might observe this in something as simple as gestures having different meanings in different cultures. It would be less of a problem translating meaning between two formal systems.
At its core, "Semantic gap" seems to relate to the difficulty in formalizing certain fuzzy concepts in symbolic systems.