This may be due to the following commit:
6ad3777 xhci: Cleanup only when releasing primary hcd

I built a test kernel with this commit reverted.  It can be downloaded
from:

http://kernel.ubuntu.com/~jsalisbury/lp1604058/

Can you test this kernel and see if it resolves this bug?

Note that you need to install both the linux-image and linux-image-extra
.deb packages.

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https://bugs.launchpad.net/bugs/1604058

Title:
  virtualbox+usb 3.0 breaks boot, -28 kernel works

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