I'm getting the same error messages but also silent failures.

Having Bluetooth scan enabled it will detect devices correctly for
30-120s, then it will keep discovering fewer and fewer devices to a
point at which it can not see any bluetooth devices anymore. Then, after
some more time it might start reporting "Bluetooth: hci0
*somethingsomething* command failed"

The only workaround is to:
modprobe -r btusb
modprobe btusb

I'm forced to do it every minute or so when it becomes flaky.

distro: Antergos Linux (Archlinux clone)

uname-a: Linux default 4.12.12-1-ARCH #1 SMP PREEMPT Sun Sep 10 09:41:14
CEST 2017 x86_64 GNU/Linux

lspci: Network controller: Intel Corporation Wireless 3165 (rev 91)

relevant logs:
[    5.308899] Bluetooth: hci0: read Intel version: 370810011003110e00
[    5.311044] Bluetooth: hci0: Intel Bluetooth firmware file: 
intel/ibt-hw-37.8.10-fw-1.10.3.11.e.bseq
[39629.337875] Bluetooth: hci0: read Intel version: 370810011003110e25
[39629.337879] Bluetooth: hci0: Intel device is already patched. patch num: 25

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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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