I have same problem with my ElementaryOS 0.4.1 based on Ubuntu 16.04.
Kernel - 4.4.0-97-generic #120-Ubuntu SMP Tue Sep 19 17:28:18 UTC 2017
CPU - i5-3210M

I upgaded bluetoothctl from 5.37 to 5.46, but problem still exists.

$ dmesg | grep -i blue
[    3.113911] usb 1-1.2: Product: Bluetooth USB Host Controller
[    5.291238] Bluetooth: Core ver 2.21
[    5.292778] Bluetooth: HCI device and connection manager initialized
[    5.292783] Bluetooth: HCI socket layer initialized
[    5.292786] Bluetooth: L2CAP socket layer initialized
[    5.292793] Bluetooth: SCO socket layer initialized
[    5.379880] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[    5.379883] Bluetooth: BNEP filters: protocol multicast
[    5.379887] Bluetooth: BNEP socket layer initialized
[    7.407838] Bluetooth: hci0 command 0x0c13 tx timeout
[    9.411812] Bluetooth: hci0 command 0x0c52 tx timeout
[   11.796839] Bluetooth: RFCOMM TTY layer initialized
[   11.796846] Bluetooth: RFCOMM socket layer initialized
[   11.796851] Bluetooth: RFCOMM ver 1.11

$ lspci -knn | grep Net -A2; lsusb
02:00.0 Network controller [0280]: Qualcomm Atheros AR9485 Wireless Network 
Adapter [168c:0032] (rev 01)
        Subsystem: Samsung Electronics Co Ltd AR9485 Wireless Network Adapter 
[144d:4105]
        Kernel driver in use: ath9k
        Kernel modules: ath9k, wl
Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 005: ID 2232:1029 Silicon Motion WebCam SC-13HDL11939N
Bus 001 Device 004: ID 0cf3:3004 Atheros Communications, Inc. AR3012 Bluetooth 
4.0
Bus 001 Device 003: ID 0bda:0129 Realtek Semiconductor Corp. RTS5129 Card 
Reader Controller
Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 002: ID 0458:6001 KYE Systems Corp. (Mouse Systems) GF3000F 
Ethernet Adapter
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub


$ dmesg | grep ath3k; dkms status
[    5.295230] usbcore: registered new interface driver ath3k
bcmwl, 6.30.223.271+bdcom, 4.4.0-96-generic, x86_64: installed
bcmwl, 6.30.223.271+bdcom, 4.4.0-97-generic, x86_64: installed
$ dmesg | grep ath9k; dkms status
bcmwl, 6.30.223.271+bdcom, 4.4.0-96-generic, x86_64: installed
bcmwl, 6.30.223.271+bdcom, 4.4.0-97-generic, x86_64: installed

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https://bugs.launchpad.net/bugs/1617619

Title:
  Problem with Bluetooth USB Host Controller: Connection time-out after
  connecting to device

Status in linux package in Ubuntu:
  Confirmed

Bug description:
  1.) Release: Ubuntu 16.04 LTS
  Kernel: Ubuntu 4.4.0-34.53-generic 4.4.15
  CPU: Intel® Core™ i5-2450M CPU @ 2.50GHz × 4
  Graphics: Gallium 0.4 on NVC1
  OS type: 64-bit

  2.)package-version (gnome-bluetooth): 3.18.2-1ubuntu2

  3.) I expected a smooth connection of the computer to my speakers via
  bluetooth.

  4.)... but after a short connection it sometimes gets a timeout. I
  faced this problem several times now, but not after every boot. I
  always tried to log-out and log-in again, as well as restarting the
  computer. Sometimes it helped, but this time it didn't work.

  I tried to fix it like in this report:
  http://askubuntu.com/questions/804014/stuck-on-a-bluetooth-problem
  they suggested it may be a kernel problem, therefore I thought it might be a 
good idea to report this, as it could be a bug.

  Here are some outputs:

  tingatinga@Xel:~$ dmesg | grep -i blue
  [    2.461258] usb 1-1.5: Product: Bluetooth USB Host Controller
  [    8.686487] Bluetooth: Core ver 2.21
  [    8.686504] Bluetooth: HCI device and connection manager initialized
  [    8.686509] Bluetooth: HCI socket layer initialized
  [    8.686512] Bluetooth: L2CAP socket layer initialized
  [    8.686518] Bluetooth: SCO socket layer initialized
  [   10.878528] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
  [   10.878533] Bluetooth: BNEP filters: protocol multicast
  [   10.878539] Bluetooth: BNEP socket layer initialized
  [   24.914041] usb 1-1.5: Product: Bluetooth USB Host Controller
  [   25.036498] Bluetooth: RFCOMM TTY layer initialized
  [   25.036506] Bluetooth: RFCOMM socket layer initialized
  [   25.036512] Bluetooth: RFCOMM ver 1.11
  [ 1180.258184] usb 1-1.5: Product: Bluetooth USB Host Controller
  [ 1182.331574] Bluetooth: hci0 command 0x0c16 tx timeout
  [ 1184.335420] Bluetooth: hci0 command 0x2002 tx timeout
  [ 1186.339358] Bluetooth: hci0 command 0x2003 tx timeout
  [ 1188.343276] Bluetooth: hci0 command 0x201c tx timeout
  [ 1814.065219] usb 1-1.5: Product: Bluetooth USB Host Controller
  [ 1833.224835] usb 1-1.5: Product: Bluetooth USB Host Controller
  [ 1835.345966] Bluetooth: hci0 command 0x0c13 tx timeout
  [ 1837.353923] Bluetooth: hci0 command 0x2009 tx timeout
  [ 1839.357812] Bluetooth: hci0 command 0x0c52 tx timeout
  [ 1919.603466] Bluetooth: hci0 command 0x0405 tx timeout
  [ 1959.698076] Bluetooth: hci0 command 0x0408 tx timeout
  [ 2014.352121] Bluetooth: hci0 command 0x0408 tx timeout
  [ 2104.859182] usb 1-1.5: Product: Bluetooth USB Host Controller
  [ 2106.932712] Bluetooth: hci0 command 0x2003 tx timeout
  [ 2108.936570] Bluetooth: hci0 command 0x201c tx timeout
  [ 2110.940554] Bluetooth: hci0 command 0x1002 tx timeout
  [ 2112.944538] Bluetooth: hci0 command 0x0c52 tx timeout

  tingatinga@Xel:~$ lspci -knn | grep Net -A2; lsusb
  02:00.0 Network controller [0280]: Qualcomm Atheros AR9485 Wireless Network 
Adapter [168c:0032] (rev 01)
        Subsystem: Foxconn International, Inc. Unex DHXA-225 [105b:e044]
        Kernel driver in use: ath9k
  Bus 002 Device 003: ID 276d:1160  
  Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
  Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
  Bus 003 Device 002: ID 0fce:0192 Sony Ericsson Mobile Communications AB 
  Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  Bus 001 Device 010: ID 0489:e036 Foxconn / Hon Hai 
  Bus 001 Device 003: ID 05ca:18c0 Ricoh Co., Ltd 
  Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
  Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

  tingatinga@Xel:~$ dmesg | grep ath3k; dkms status
  [    8.777178] usbcore: registered new interface driver ath3k

  tingatinga@Xel:~$ dmesg | grep ath9k; dkms status
  [    9.105129] ath9k 0000:02:00.0 wlp2s0: renamed from wlan0
  [   68.612969] ath9k 0000:02:00.0 wlp2s0: disabling HT as WMM/QoS is not 
supported by the AP
  [   68.612973] ath9k 0000:02:00.0 wlp2s0: disabling VHT as WMM/QoS is not 
supported by the AP
  [ 1295.614238] ath9k 0000:02:00.0 wlp2s0: disabling HT as WMM/QoS is not 
supported by the AP
  [ 1295.614242] ath9k 0000:02:00.0 wlp2s0: disabling VHT as WMM/QoS is not 
supported by the AP
  [ 1664.599594] ath9k 0000:02:00.0 wlp2s0: disabling HT as WMM/QoS is not 
supported by the AP
  [ 1664.599598] ath9k 0000:02:00.0 wlp2s0: disabling VHT as WMM/QoS is not 
supported by the AP

  ProblemType: Bug
  DistroRelease: Ubuntu 16.04
  Package: linux-image-4.4.0-34-generic 4.4.0-34.53
  ProcVersionSignature: Ubuntu 4.4.0-34.53-generic 4.4.15
  Uname: Linux 4.4.0-34-generic x86_64
  ApportVersion: 2.20.1-0ubuntu2.1
  Architecture: amd64
  AudioDevicesInUse:
   USER        PID ACCESS COMMAND
   /dev/snd/controlC1:  tingatinga   3843 F.... pulseaudio
   /dev/snd/controlC0:  tingatinga   3843 F.... pulseaudio
  CurrentDesktop: Unity
  Date: Sat Aug 27 21:18:54 2016
  EcryptfsInUse: Yes
  HibernationDevice: RESUME=UUID=7e8096b7-e5c4-4eec-99dc-065ab5a50e0f
  InstallationDate: Installed on 2016-08-16 (10 days ago)
  InstallationMedia: Ubuntu 16.04.1 LTS "Xenial Xerus" - Release amd64 
(20160719)
  MachineType: Sony Corporation VPCF24M1E
  ProcFB: 0 nouveaufb
  ProcKernelCmdLine: BOOT_IMAGE=/boot/vmlinuz-4.4.0-34-generic 
root=UUID=72b027b3-24e9-402b-9cc1-23abeaa8dc46 ro quiet splash vt.handoff=7
  RelatedPackageVersions:
   linux-restricted-modules-4.4.0-34-generic N/A
   linux-backports-modules-4.4.0-34-generic  N/A
   linux-firmware                            1.157.3
  SourcePackage: linux
  UpgradeStatus: No upgrade log present (probably fresh install)
  dmi.bios.date: 09/23/2011
  dmi.bios.vendor: American Megatrends Inc.
  dmi.bios.version: R2160V3
  dmi.board.asset.tag: N/A
  dmi.board.name: VAIO
  dmi.board.vendor: Sony Corporation
  dmi.board.version: N/A
  dmi.chassis.asset.tag: N/A
  dmi.chassis.type: 10
  dmi.chassis.vendor: Sony Corporation
  dmi.chassis.version: N/A
  dmi.modalias: 
dmi:bvnAmericanMegatrendsInc.:bvrR2160V3:bd09/23/2011:svnSonyCorporation:pnVPCF24M1E:pvrC60AXSB6:rvnSonyCorporation:rnVAIO:rvrN/A:cvnSonyCorporation:ct10:cvrN/A:
  dmi.product.name: VPCF24M1E
  dmi.product.version: C60AXSB6
  dmi.sys.vendor: Sony Corporation

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