I was experiencing similar problems, sometimes, until recently. The problem 
went away for me more recently in 17.10. Can you please try live booting:
   http://cdimage.ubuntu.com/daily-live/current/
and see if the problem is fixed there in 17.10?

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https://bugs.launchpad.net/bugs/1705882

Title:
  Bluetooth connection to device fails from Ubuntu 16.04

Status in bluez package in Ubuntu:
  New

Bug description:
  Bluetooth connection to a bluetooth IOIO device fails using a USB bluetooth 
adapter from a Ubuntu 16.04 system. The same device could be successfully 
connected using two non-Ubuntu systems:
    a) The same system hardware setup (dual-boot) running Windows 8 could 
connect without any problems. Also could run applications using serial-port 
associated with this connection.
    b) Android Note 4 device using bluetooth was able to successfully connect 
and run apps.

  Therefore, it was concluded that the Ubuntu 16.04 bluetooth service
  has a problem.

  Note: The USB bluetooth adapter used: BTA8000 from Cirago on the
  ubuntu system as well as the IOIO device. The adapters on the device
  and system have been verified to have different MAC addresses and
  works well with other devices.

  Procedure: Using the Bluetooth control in system-tray -> Bluetooth
  settings -> +, the device was located as IOIO (8A:22). Here, device
  was clicked upon, changed PIN to 4545 and pressing next resulted in
  the device being successfully added. However, the system-tray status
  of the device continues to say Connection is OFF. Attempting to turnon
  connection results in changing the system-tray blue-tooth icon to
  Keys-Icon for few seconds and then reverting back to the bluetooth
  icon. The device remains in disconnected state and cannot be accessed.

  The btmon trace (log-line 1277) and bluetoothd syslog (log-line 405)
  logs seem to indicate that the local host is sending a disconnect
  request after receiving a SDP: Service Search Attribute Response from
  the device. The src/device.c:connect_profiles()
  /org/bluez/hci0/dev_00_1B_DC_06_8A_22 (all), client :1.73 must result
  in connection setup - not disconnect.

  Log information was collected for the above procedure.
  systemInfo.txt: Information about the system bluetooth.
  syslog.blue: syslog with busr/lib/bluetooth/bluetoothd --noplugin=sap -d in 
/lib/systemd/system/bluetooth.service
  btmon.log: result of running sudo btmon

  ProblemType: Bug
  DistroRelease: Ubuntu 16.04
  Package: bluez 5.37-0ubuntu5 [modified: lib/systemd/system/bluetooth.service]
  ProcVersionSignature: Ubuntu 4.10.0-27.30~16.04.2-generic 4.10.17
  Uname: Linux 4.10.0-27-generic x86_64
  ApportVersion: 2.20.1-0ubuntu2.10
  Architecture: amd64
  CurrentDesktop: Unity
  Date: Sun Jul 23 01:28:38 2017
  InstallationDate: Installed on 2017-06-03 (49 days ago)
  InstallationMedia: Ubuntu 16.04.2 LTS "Xenial Xerus" - Release amd64 
(20170215.2)
  InterestingModules: rfcomm bnep btusb bluetooth
  JournalErrors:
   Error: command ['journalctl', '-b', '--priority=warning', '--lines=1000'] 
failed with exit code 1: Hint: You are currently not seeing messages from other 
users and the system.
         Users in the 'systemd-journal' group can see all messages. Pass -q to
         turn off this notice.
   No journal files were opened due to insufficient permissions.
  MachineType: Hewlett-Packard HP ENVY dv7 Notebook PC
  ProcKernelCmdLine: BOOT_IMAGE=/boot/vmlinuz-4.10.0-27-generic.efi.signed 
root=UUID=1c1d284c-53a1-46dc-bc01-8555da60ad7e ro quiet splash vt.handoff=7
  SourcePackage: bluez
  UpgradeStatus: No upgrade log present (probably fresh install)
  dmi.bios.date: 11/02/2012
  dmi.bios.vendor: Insyde
  dmi.bios.version: F.22
  dmi.board.asset.tag: Type2 - Board Asset Tag
  dmi.board.name: 181C
  dmi.board.vendor: Hewlett-Packard
  dmi.board.version: 52.24
  dmi.chassis.asset.tag: Chassis Asset Tag
  dmi.chassis.type: 10
  dmi.chassis.vendor: Hewlett-Packard
  dmi.chassis.version: Chassis Version
  dmi.modalias: 
dmi:bvnInsyde:bvrF.22:bd11/02/2012:svnHewlett-Packard:pnHPENVYdv7NotebookPC:pvr088A110000305920000620100:rvnHewlett-Packard:rn181C:rvr52.24:cvnHewlett-Packard:ct10:cvrChassisVersion:
  dmi.product.name: HP ENVY dv7 Notebook PC
  dmi.product.version: 088A110000305920000620100
  dmi.sys.vendor: Hewlett-Packard
  hciconfig:
   hci0:        Type: BR/EDR  Bus: USB
        BD Address: 00:1B:DC:06:89:C5  ACL MTU: 310:10  SCO MTU: 64:8
        UP RUNNING PSCAN 
        RX bytes:242328 acl:898 sco:0 events:316 errors:0
        TX bytes:11991 acl:125 sco:0 commands:112 errors:0
  syslog:

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