I also have the same problem reported by the OP: I have an original xbox 360 kinect and when connected to a box running Ubuntu 16.04.1 and kernel 4.6.0-040600-generic, it keeps connecting and reconnecting. 

The workaround reported by the OP also fixes the problem.

My lsusb output (when the devices are connected):
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Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 04f3:21d5 Elan Microelectronics Corp. 
Bus 001 Device 002: ID 0a5c:6410 Broadcom Corp. 
Bus 001 Device 064: ID 046d:c510 Logitech, Inc. Cordless Mouse
Bus 001 Device 004: ID 1bcf:2b95 Sunplus Innovation Technology Inc. 
Bus 001 Device 030: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Bus 001 Device 028: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 029: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
Bus 001 Device 027: ID 0409:005a NEC Corp. HighSpeed Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
----

Sample dmesg output:
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[153617.887835] usb 1-1.1: new high-speed USB device number 124 using xhci_hcd
[153617.995407] usb 1-1.1: New USB device found, idVendor=045e, idProduct=02ad
[153617.995411] usb 1-1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=4
[153617.995413] usb 1-1.1: Product: Xbox NUI Audio
[153617.995415] usb 1-1.1: Manufacturer: Microsoft
[153617.995416] usb 1-1.1: SerialNumber: A44881C11888045A
[153619.423927] usb 1-1.3: new high-speed USB device number 125 using xhci_hcd
[153619.531358] usb 1-1.3: New USB device found, idVendor=045e, idProduct=02ae
[153619.531364] usb 1-1.3: New USB device strings: Mfr=2, Product=1, SerialNumber=3
[153619.531367] usb 1-1.3: Product: Xbox NUI Camera
[153619.531370] usb 1-1.3: Manufacturer: Microsoft
[153619.531372] usb 1-1.3: SerialNumber: A00361801109045A
[153628.048457] usb 1-1.1: USB disconnect, device number 124
[153628.049078] usb 1-1.3: USB disconnect, device number 125
[153629.664592] usb 1-1.1: new high-speed USB device number 126 using xhci_hcd
[153629.771959] usb 1-1.1: New USB device found, idVendor=045e, idProduct=02ad
[153629.771963] usb 1-1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=4
[153629.771965] usb 1-1.1: Product: Xbox NUI Audio
[153629.771967] usb 1-1.1: Manufacturer: Microsoft
[153629.771968] usb 1-1.1: SerialNumber: A44881C11888045A
[153631.460674] usb 1-1.3: new high-speed USB device number 127 using xhci_hcd
[153631.572121] usb 1-1.3: New USB device found, idVendor=045e, idProduct=02ae
[153631.572124] usb 1-1.3: New USB device strings: Mfr=2, Product=1, SerialNumber=3
[153631.572125] usb 1-1.3: Product: Xbox NUI Camera
[153631.572127] usb 1-1.3: Manufacturer: Microsoft
[153631.572128] usb 1-1.3: SerialNumber: A00361801109045A
[153639.941292] usb 1-1.1: USB disconnect, device number 126
[153639.941997] usb 1-1.3: USB disconnect, device number 127
[153641.697334] usb 1-1.1: new high-speed USB device number 5 using xhci_hcd
[153641.804683] usb 1-1.1: New USB device found, idVendor=045e, idProduct=02ad
[153641.804686] usb 1-1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=4
[153641.804687] usb 1-1.1: Product: Xbox NUI Audio
[153641.804689] usb 1-1.1: Manufacturer: Microsoft
[153641.804690] usb 1-1.1: SerialNumber: A44881C11888045A
[153643.233432] usb 1-1.3: new high-speed USB device number 6 using xhci_hcd
[153643.340795] usb 1-1.3: New USB device found, idVendor=045e, idProduct=02ae
[153643.340818] usb 1-1.3: New USB device strings: Mfr=2, Product=1, SerialNumber=3
[153643.340825] usb 1-1.3: Product: Xbox NUI Camera
[153643.340831] usb 1-1.3: Manufacturer: Microsoft
[153643.340837] usb 1-1.3: SerialNumber: A00361801109045A
[153651.101922] usb 1-1.1: USB disconnect, device number 5
[153651.102545] usb 1-1.3: USB disconnect, device number 6
[153652.706014] usb 1-1.1: new high-speed USB device number 7 using xhci_hcd
[153652.814477] usb 1-1.1: New USB device found, idVendor=045e, idProduct=02ad
[153652.814480] usb 1-1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=4
[153652.814482] usb 1-1.1: Product: Xbox NUI Audio
[153652.814483] usb 1-1.1: Manufacturer: Microsoft
[153652.814484] usb 1-1.1: SerialNumber: A44881C11888045A
...
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