This problem still happens here with:

linux-firmware:
  Installed: 1.161
  Candidate: 1.161

linux-image-lowlatency:
  Installed: 4.8.0.22.31
  Candidate: 4.8.0.22.31

Temporary solving with:
sudo modprobe -r btusb
sudo modprobe btusb

But it happens very very often.

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

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

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