Just replace
/lib/firmware/intel/ibt-hw-37.7.10-fw-1.80.2.3.d.bseq
with the file mentioned in comment #1
https://bugs.launchpad.net/ubuntu/+source/linux-firmware/+bug/1591167/comments/1
If it is really the same issue for you - it will fix your problem.

Meanwhile the bug has been fixed for Ubuntu 16.10 (Yakkety Yak):
http://packages.ubuntu.com/yakkety/linux-firmware
linux-firmware (1.160) yakkety includes the fix already:
http://changelogs.ubuntu.com/changelogs/pool/main/l/linux-firmware/linux-firmware_1.161/changelog

** Changed in: linux-firmware (Ubuntu)
       Status: Confirmed => Fix Committed

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https://bugs.launchpad.net/bugs/1591167

Title:
  Bluetooth: hci0 link tx timeout with Intel Corporation Wireless 7260

Status in linux-firmware package in Ubuntu:
  Fix Committed

Bug description:
  reported upstream as well :
  https://bugzilla.kernel.org/show_bug.cgi?id=120161

  Starting with Ubuntu 16.04 (no problem in 15.10) the bluetoth stack
  crashes several times a day:

  May 20 11:54:59 thinktank kernel: [ 6274.939039] Bluetooth: hci0 link tx 
timeout
  May 20 11:54:59 thinktank kernel: [ 6274.939046] Bluetooth: hci0 killing 
stalled connection 7c:6d:62:f1:ef:b1
  May 20 11:55:01 thinktank kernel: [ 6276.942116] Bluetooth: hci0 command 
0x041f tx timeout
  May 20 11:55:03 thinktank kernel: [ 6278.946094] Bluetooth: hci0 command 
0x0406 tx timeout

  I have an Apple Keyboard and Apple Magicmouse connected and the entire
  stack is down after seeing the above crash. These are the devices:

  input: Apple Wireless Keyboard as 
/devices/pci0000:00/0000:00:14.0/usb2/2-11/2-11:1.0/bluetooth/hci0/hci0:512/0005:05AC:023A.0002/input/input18
  apple 0005:05AC:023A.0002: input,hidraw1: BLUETOOTH HID v0.50 Keyboard [Apple 
Wireless Keyboard] on 5c:c5:d4:5d:94:7b

  input: ... mouse as /devices/pci0000:00/0000:00:14.0/usb2/2-11/2-11:
  1.0/bluetooth/hci0/hci0:256/0005:05AC:030D.0001/input/input17
  magicmouse 0005:05AC:030D.0001: input,hidraw0: BLUETOOTH HID v0.84 Mouse [... 
mouse] on 5c:c5:d4:5d:94:7b

  No input or re-pairing is possible after those timeout messages.
  Reloading the kernel firmware modules doesn't help either:

  modprobe -r btusb
  modprobe btusb

  The only way to bring the bluetooth stack up again is to toggle to
  standby (S3) and wake up the system again. In this case there firmware
  is reloaded and everything back to life:

  May 20 10:10:35 thinktank kernel: [   10.017143] Bluetooth: hci0: read Intel 
version: 370710018002030d00
  May 20 10:10:35 thinktank kernel: [   10.019069] Bluetooth: hci0: Intel 
Bluetooth firmware file: intel/ibt-hw-37.7.10-fw-1.80.2.3.d.bseq
  May 20 10:10:35 thinktank kernel: [   10.160231] Bluetooth: hci0: Intel 
Bluetooth firmware patch completed and activated
  May 20 10:10:35 thinktank systemd[1]: Starting Bluetooth service...
  May 20 10:10:36 thinktank bluetoothd[1147]: Bluetooth daemon 5.37
  May 20 10:10:36 thinktank systemd[1]: Reached target Bluetooth.

  May 20 10:10:36 thinktank kernel: [   11.412940] Bluetooth: BNEP (Ethernet 
Emulation) ver 1.3
  May 20 10:10:36 thinktank kernel: [   11.412943] Bluetooth: BNEP filters: 
protocol multicast
  May 20 10:10:36 thinktank kernel: [   11.412948] Bluetooth: BNEP socket layer 
initialized
  May 20 10:10:36 thinktank bluetoothd[1147]: Bluetooth management interface 
1.10 initialized

  Since the problem did not occur with Ubuntu 15.10 I traced the issue down to 
the changed firmware files:
  /lib/firmware/intel/ibt-hw-37.7.10-fw-1.80.2.3.d.bseq
  of package linux-firmware

  Bad:
  $ sha1sum ibt-hw-37.7.10-fw-1.80.2.3.d.bseq.ubuntu
  b697de26b72804af9d9385d13e989a72fd364d75  ibt-hw-37.7.10-fw-1.80.2.3.d.bseq
  Filesize : 25631

  origin:
  2016-02-03    linux-firmware: Update firmware patch for Intel Bluetooth 7260 
(B3/B4)
  
http://git.kernel.org/cgit/linux/kernel/git/iwlwifi/linux-firmware.git/commit/intel/ibt-hw-37.7.10-fw-1.80.2.3.d.bseq?id=7b1a5cb6a2cd379f470058580be2a41f5d5c4867

  Good (included in Ubuntu 15.10):

  $ sha1sum ibt-hw-37.7.10-fw-1.80.2.3.d.bseq
  19f01d6469f30a9b1d7c214615ea39ac5e9d875c  ibt-hw-37.7.10-fw-1.80.2.3.d.bseq
  Filesize : 25117

  origin:
  2015-09-24    linux-firmware: Update firmware patch for Intel Bluetooth 7260 
(B3/B4)
  
http://git.kernel.org/cgit/linux/kernel/git/iwlwifi/linux-firmware.git/commit/intel/ibt-hw-37.7.10-fw-1.80.2.3.d.bseq?id=01f57c63a0d2fd822462b5eedb09ff3a92fbcb29

  The numbers in the file name do not correspond to version numbers:
  Therefore sha1sum and filesize given to distinguish.

  According to
  http://linuxwireless.org/en/users/Drivers/iwlwifi/#Bugzilla
  I may file a bug upstream.

  kernel: 4.4.0-22-generic

  Bluetooth Device:
  $ lsusb -d 8087:07dc
  Bus 002 Device 004: ID 8087:07dc Intel Corp.

  $ lspci -v
  03:00.0 Network controller: Intel Corporation Wireless 7260 (rev 83)
          Subsystem: Intel Corporation Dual Band Wireless-AC 7260

  Switching off USB Autosuspend for Bluettooth devices also didn't help:

  BTUSB_DEV="8087:07dc"
  BTUSB_BINDING="$(lsusb -d "$BTUSB_DEV" |
      cut -f 1 -d : |
      sed -e 's,Bus ,,' -e 's, Device ,/,' |
      xargs -I {} udevadm info -q path -n /dev/bus/usb/{} |
      xargs basename)"

  echo "Disabling autosuspend for Bluetooth USB Mouse: $BTUSB_BINDING (old 
value: $(cat /sys/bus/usb/devices/$BTUSB_BINDING/power/autosuspend_delay_ms))"
  echo -1 | sudo tee 
"/sys/bus/usb/devices/$BTUSB_BINDING/power/autosuspend_delay_ms"

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