Same Problem:
Bus 005 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 004 Device 003: ID 0a5c:200a Broadcom Corp. Bluetooth dongle
Dmesg :
[   55.092421] hci_cmd_task: hci0 command tx timeout
[   60.096506] hci_cmd_task: hci0 command tx timeout
[   65.100369] hci_cmd_task: hci0 command tx timeout
[   70.104358] hci_cmd_task: hci0 command tx timeout
[   75.108196] hci_cmd_task: hci0 command tx timeout
[   80.112996] hci_cmd_task: hci0 command tx timeout

It works with regression of these package :
'bluez-utils_3.26-0ubuntu6_i386.deb' 
'bluez-hcidump_1.40-0ubuntu1_i386.deb' 
'bluez-cups_3.26-0ubuntu6_i386.deb' 
'bluez-audio_3.26-0ubuntu6_i386.deb' 
'bluetooth_3.26-0ubuntu6_all.deb' 
No other solution found.

-- 
Bluetooth association no longer works
https://bugs.launchpad.net/bugs/268502
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