UPDATE:

I created my own bluez 5.43 unsigned packages and installed them.
The issue is still present.

Here are the steps I took:

It was suggested that bluez 5.4 fixes the issue. However, that package
is not available for ubuntu 16.04. I was able to build my own unsigned
and upgradable package using the following steps and I have bluez 5.43.
Still does not connect though.

sudo  apt-get install debhelper devscripts dh-autoreconf flex bison
libdbus-glib-1-dev libglib2.0-dev  libcap-ng-dev libudev-dev
libreadline-dev libical-dev check dh-systemd libebook1.2-dev

wget https://launchpad.net/ubuntu/+archive/primary/+files/bluez_5.43.orig.tar.xz
wget 
https://launchpad.net/ubuntu/+archive/primary/+files/bluez_5.43-0ubuntu1.debian.tar.xz
wget 
https://launchpad.net/ubuntu/+archive/primary/+files/bluez_5.43-0ubuntu1.dsc

tar xf bluez_5.43.orig.tar.xz
cd bluez-5.43
tar xf ../bluez_5.43-0ubuntu1.debian.tar.xz
debchange --local=~lorenzen 'Backport to Xenial'
debuild -b -j4 -us -uc
cd ..
sudo dpkg -i *.deb

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https://bugs.launchpad.net/bugs/1490347

Title:
  [Regression] 16:04 + 15:10 - Cannot pair with devices using (legacy
  LMP Link Management Protocol) PIN codes

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