Same here.
$ lsb_release -rd
Description:	Ubuntu 16.04.1 LTS
Release:	16.04
$ uname -a
Linux Aspire-3830TG 4.4.0-53-generic #74-Ubuntu SMP Fri Dec 2 15:59:10 UTC 2016 x86_64 x86_64 x86_64 GNU/Linux

The bluetooth sometimes fails to initialize, sometimes drops after few minutes, sometime just works.
Moreover, I can turn on bluetooth only with quick menu (close to clock). Turning on with Bluetooth Settings does not work (does not show devices on search, when adding a device).


[    6.099353] Bluetooth: Core ver 2.21
[    6.099383] NET: Registered protocol family 31
[    6.099385] Bluetooth: HCI device and connection manager initialized
[    6.099391] Bluetooth: HCI socket layer initialized
[    6.099395] Bluetooth: L2CAP socket layer initialized
[    6.099405] Bluetooth: SCO socket layer initialized
[    6.114950] usbcore: registered new interface driver btusb
[    6.167519] usbcore: registered new interface driver ath3k
[    6.361226] usb 1-1.6: USB disconnect, device number 4
[    6.558938] usb 1-1.6: new full-speed USB device number 5 using ehci-pci
[    7.262970] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[    7.262974] Bluetooth: BNEP filters: protocol multicast
[    7.262979] Bluetooth: BNEP socket layer initialized
[   11.630789] usb 1-1.6: device descriptor read/64, error -110
[   12.429502] Non-volatile memory driver v1.3
[   16.828546] usb 1-1.6: New USB device found, idVendor=0489, idProduct=e03c
[   16.828549] usb 1-1.6: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[   16.828551] usb 1-1.6: Product: Bluetooth USB Host Controller
[   16.828552] usb 1-1.6: Manufacturer: Atheros Communications
[   16.828554] usb 1-1.6: SerialNumber: Alaska Day 2006
[   16.936225] Bluetooth: RFCOMM TTY layer initialized
[   16.936232] Bluetooth: RFCOMM socket layer initialized
[   16.936238] Bluetooth: RFCOMM ver 1.11
[   81.621554] hidraw: raw HID events driver (C) Jiri Kosina
[   81.623955] Bluetooth: HIDP (Human Interface Emulation) ver 1.2
[   81.623963] Bluetooth: HIDP socket layer initialized
[   81.671362] hid-generic 0005:045E:07A2.0001: unknown main item tag 0x0
[   81.671800] input: Microsoft Sculpt Comfort Mouse as /devices/pci0000:00/0000:00:1a.0/usb1/1-1/1-1.6/1-1.6:1.0/bluetooth/hci0/hci0:21/0005:045E:07A2.0001/input/input15
[   81.672378] hid-generic 0005:045E:07A2.0001: input,hidraw0: BLUETOOTH HID v1.29 Mouse [Microsoft Sculpt Comfort Mouse] on 94:39:e5:4e:fb:66
[   92.504506] Bluetooth: hci0 corrupted ACL packet
[  141.584490] atl1c 0000:02:00.0: atl1c: enp2s0 NIC Link is Up<1000 Mbps Full Duplex>
[  141.584525] IPv6: ADDRCONF(NETDEV_CHANGE): enp2s0: link becomes ready
[  583.614030] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614043] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614049] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614054] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614060] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614066] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614072] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614077] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614082] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614088] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614093] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614098] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614101] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614105] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614108] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614111] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614115] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614120] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614124] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614127] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614131] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614134] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614137] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614141] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614145] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614148] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614151] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614154] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614158] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614161] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614164] Bluetooth: hci0 ACL packet for unknown connection handle 0
[  583.614168] Bluetooth: hci0 ACL packet for unknown connection handle 0