I am seeing this occur on 16.04 and that too only on my home network. I am using a D-Link DIR-150M router. Hope this helps in solving this bug.

$ dmesg | grep 'ath10k\|wlp5s0'

[43748.066244] IPv6: ADDRCONF(NETDEV_CHANGE): wlp5s0: link becomes ready
[43798.366800] wlp5s0: AP 18:0f:76:8d:56:b4 changed bandwidth, new config is 2412 MHz, width 2 (2422/0 MHz)
[43798.405413] ath10k_pci 0000:05:00.0: firmware crashed! (guid 73bf7f34-1cb6-4cdc-90a8-15e5913458a6)
[43798.405466] ath10k_pci 0000:05:00.0: qca9377 hw1.1 target 0x05020001 chip_id 0x003821ff sub 17aa:0901
[43798.405480] ath10k_pci 0000:05:00.0: kconfig debug 0 debugfs 1 tracing 1 dfs 0 testmode 0
[43798.407173] ath10k_pci 0000:05:00.0: firmware ver WLAN.TF.1.0-00267-1 api 5 features ignore-otp crc32 79cea2c7
[43798.408288] ath10k_pci 0000:05:00.0: board_file api 2 bmi_id N/A crc32 93da0176
[43798.408308] ath10k_pci 0000:05:00.0: htt-ver 3.1 wmi-op 4 htt-op 3 cal otp max-sta 32 raw 0 hwcrypto 1
[43798.410347] ath10k_pci 0000:05:00.0: firmware register dump:
[43798.410371] ath10k_pci 0000:05:00.0: [00]: 0x05020001 0x000015B3 0x00985B3A 0x00955B31
[43798.410385] ath10k_pci 0000:05:00.0: [04]: 0x00985B3A 0x00060730 0x00000004 0x00000000
[43798.410402] ath10k_pci 0000:05:00.0: [08]: 0x00955A00 0x00438830 0x00450888 0x00420970
[43798.410416] ath10k_pci 0000:05:00.0: [12]: 0x00000009 0x00000000 0x00952CD0 0x00952CE6
[43798.410430] ath10k_pci 0000:05:00.0: [16]: 0x00952CC4 0x0091080D 0x00000000 0x00000000
[43798.410445] ath10k_pci 0000:05:00.0: [20]: 0x40985B3A 0x0040E788 0x00400000 0x00421888
[43798.410458] ath10k_pci 0000:05:00.0: [24]: 0x809BF546 0x0040E7E8 0x00426470 0xC0985B3A
[43798.410473] ath10k_pci 0000:05:00.0: [28]: 0x809B90D8 0x0040E958 0x00000018 0x0042EA0C
[43798.410486] ath10k_pci 0000:05:00.0: [32]: 0x809B859A 0x0040E9A8 0x0040E9CC 0x00428D74
[43798.410501] ath10k_pci 0000:05:00.0: [36]: 0x8091D252 0x0040E9C8 0x00000000 0x00000001
[43798.410514] ath10k_pci 0000:05:00.0: [40]: 0x809EDD7B 0x0040EA78 0x00437544 0x00429428
[43798.410527] ath10k_pci 0000:05:00.0: [44]: 0x809EB6A6 0x0040EA98 0x00437544 0x00000001
[43798.410541] ath10k_pci 0000:05:00.0: [48]: 0x80911210 0x0040EAE8 0x00000010 0x004041D0
[43798.410555] ath10k_pci 0000:05:00.0: [52]: 0x80911154 0x0040EB28 0x00400000 0x00000000
[43798.410569] ath10k_pci 0000:05:00.0: [56]: 0x8091122D 0x0040EB48 0x00000000 0x00400600
[43798.410580] ath10k_pci 0000:05:00.0: Copy Engine register dump:
[43798.410609] ath10k_pci 0000:05:00.0: [00]: 0x00034400   5   5   3   3
[43798.410637] ath10k_pci 0000:05:00.0: [01]: 0x00034800  26  26 327 328
[43798.410666] ath10k_pci 0000:05:00.0: [02]: 0x00034c00  16  16  15  16
[43798.410694] ath10k_pci 0000:05:00.0: [03]: 0x00035000  29  29  30  29
[43798.410723] ath10k_pci 0000:05:00.0: [04]: 0x00035400 2767 2767 169 105
[43798.410750] ath10k_pci 0000:05:00.0: [05]: 0x00035800   0   0   0   0
[43798.410777] ath10k_pci 0000:05:00.0: [06]: 0x00035c00  25  25  25  25
[43798.410805] ath10k_pci 0000:05:00.0: [07]: 0x00036000   1   1   1   1
[43798.521863] ieee80211 phy0: Hardware restart was requested
[43799.226364] ath10k_pci 0000:05:00.0: device successfully recovered
[43929.850037] wlp5s0: AP 18:0f:76:8d:56:b4 changed bandwidth, new config is 2412 MHz, width 1 (2412/0 MHz)
[43967.592805] wlp5s0: deauthenticating from 18:0f:76:8d:56:b4 by local choice (Reason: 3=DEAUTH_LEAVING)