I succeeded to connect only from GUI, Ubuntu 16.04, xfce4, from applet,
probably using blueman-manager and associated GUI only commands.

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https://bugs.launchpad.net/bugs/1490349

Title:
  15:10 and 16.04: bluetoothd "Failed to start discovery:
  org.bluez.Error.NotReady" after bluetoothd restarted

Status in bluez package in Ubuntu:
  Invalid

Bug description:
  On 15:10 after the bluetooth service has been stopped and restarted it
  is not possible to scan or connect to devices:

  $ sudo systemctl restart bluetooth

  $ bluetoothctl
  [NEW] Controller 00:1F:3A:E0:0A:AF hephaestion.lan.iam.tj [default]
  [NEW] Device 00:0A:95:4B:BD:C2 Apple Wireless Keyboard
  [NEW] Device 00:07:61:3B:86:98 Bluetooth Travel Mouse
  [bluetooth]# scan on
  Failed to start discovery: org.bluez.Error.NotReady

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