Jamie: Did you try using the script that I have attached to bug #336012:
http://bugs.launchpad.net/ubuntu/+source/bluez/+bug/336012/comments/4

The point is to enable encryption before making the PAN connection. Note
that you have to use a script because timing is very important, baseband
connection will be disconnected automatically after about one second if
no other connection is made. The bug is that the PAN connection request
is resent when the phone requests encryption, so you have to enable
encryption first. I think this is a kernel bug, not a bluez bug.

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Bluetooth doesn't work (hci_cmd_task: hci0 command tx timeout)
https://bugs.launchpad.net/bugs/268502
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