This is what I got after running
1) sudo killall fwupd
2) sudo /usr/lib/x86_64-linux-gnu/fwupd/fwupd -v 2>&1 | tee fwupd_debug.log

21:57:58        Verbose debugging enabled (on console 0)
21:57:58        adding plugin 
/usr/lib/x86_64-linux-gnu/fwupd-plugins-1/libfu_plugin_steelseries.so
21:57:58        adding plugin 
/usr/lib/x86_64-linux-gnu/fwupd-plugins-1/libfu_plugin_test.so
21:57:58        performing init() on test
21:57:58        Loading fallback values from /etc/fwupd.conf
21:57:58        adding udev device: 
/sys/devices/pci0000:00/0000:00:02.0/0000:01:00.0
21:57:58        fixing GUID 0x10de:0x1040->693025a1-4a7d-53b8-864e-c7f3e5866ec0
21:57:58        emit added from Udev: 
ro__sys_devices_pci0000_00_0000_00_02_0_0000_01_00_0
Failed to coldplug: UEFI firmware updating not supported
***
21:57:58        Failed to coldplug: UEFI firmware updating not supported
***
21:57:58        emit added from USB: usb:00:04
21:57:58        emit added from USB: usb:00:03
############################################################################### 
       @0551ms AsStore:load 551ms
############################################################################### 
       @0551ms AsStore:load{per-system} 551ms
#                                                                               
       @0005ms 
AsStore:app-info{/usr/share/app-info/xmls/org.freedesktop.fwupd.xml} 5ms
 #                                                                              
       @0022ms 
AsStore:app-info{/var/lib/app-info/yaml/in.archive.ubuntu.com_ubuntu_dists_xenial_multiverse_dep11_Components-amd64.yml.gz}
 11ms
 #                                                                              
       @0022ms AsStore:store-from-file 11ms
   ###                                                                          
       @0046ms 
AsStore:app-info{/var/lib/app-info/yaml/in.archive.ubuntu.com_ubuntu_dists_xenial-updates_main_dep11_Components-amd64.yml.gz}
 23ms
   ###                                                                          
       @0046ms AsStore:store-from-file 23ms
      ##########################################################                
       @0452ms 
AsStore:app-info{/var/lib/app-info/yaml/in.archive.ubuntu.com_ubuntu_dists_xenial_universe_dep11_Components-amd64.yml.gz}
 406ms
      ##########################################################                
       @0452ms AsStore:store-from-file 406ms
                                                                 #############  
       @0547ms 
AsStore:app-info{/var/lib/app-info/yaml/in.archive.ubuntu.com_ubuntu_dists_xenial_main_dep11_Components-amd64.yml.gz}
 94ms
                                                                 #############  
       @0547ms AsStore:store-from-file 94ms
                                                                                
  ###  @0593ms FuMain:coldplug 24ms
                                                                                
  ##   @0584ms FuMain:coldplug{Udev} 15ms
                                                                                
  #    @0578ms FuProviderUdev:coldplug{usb} 9ms
                                                                                
   #   @0584ms FuProviderUdev:coldplug{pci} 5ms
                                                                                
    #  @0593ms FuMain:coldplug{USB} 8ms
                                                                                
     # @0593ms FuProviderUsb:added{258a:0001} 5ms
21:57:58        FuMain: acquired name: org.freedesktop.fwupd
21:57:59        devices now in store:
21:57:59        1       com.steelseries.rival-legacy.firmware   Rival 
SteelSeries
21:57:59        2       UEFI-dummy-dev0 UEFI Updates
21:57:59        3       com.via.VL811.firmware  VL811 Firmware
21:57:59        4       com.via.VL811+.firmware VL811+ Firmware
21:57:59        5       com.via.VL812.firmware  VL812 Firmware
21:57:59        6       com.via.VL812_B2.firmware       VL812 B2 Firmware
21:57:59        7       com.dell.uefi124c207d.firmware  XPS 15 9550/Precision 
5510 System Update
21:57:59        8       com.dell.uefi33773727.firmware  XPS 13 9350 System 
Update
21:57:59        9       com.dell.uefi43ca3264.firmware  OptiPlex 7440 AIO 
System Update
21:57:59        10      com.dell.uefia0a3aa54.firmware  Embedded Box PC 5000 
System Update
21:57:59        11      com.dell.uefiaee2604a.firmware  Embedded Box PC 3000 
System Update
21:57:59        12      com.dell.uefie0f614ed.firmware  Edge Gateway 5000/5100 
System Update
21:57:59        13      com.hughski.ColorHug.firmware   ColorHug
21:57:59        14      com.hughski.ColorHug2.firmware  ColorHug2
21:57:59        15      com.hughski.ColorHugALS.firmware        ColorHugALS

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https://bugs.launchpad.net/bugs/1574079

Title:
  USB audio device is not recognized after startup in 16.04

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