It seems the problem for me is the action of 'turn off' bluetooth.

I dual boot with Windows 10. If I chose to 'reboot' (not shutdown) from
windows and boot into ubuntu, bluetooth will start properly and working
fine. The moment I turned off bluetooth it stop working, even reboot
again.

I past below the output for command `dmesg|grep -i blue` under the
situations of working and not working.

>From the dmesg output, it seems different firmware is being loaded for
the two cases (revision 0.1 works while revision 0.0 not work). I
suspect that the bluetooth daemon modify some of the hardware file when
it is turned off. The same for windows 10, I guess it also modifies some
hardware file on restart.

================= WORKING CASE ===================
[    3.393285] Bluetooth: Core ver 2.21
[    3.393293] Bluetooth: HCI device and connection manager initialized
[    3.393295] Bluetooth: HCI socket layer initialized
[    3.393296] Bluetooth: L2CAP socket layer initialized
[    3.393300] Bluetooth: SCO socket layer initialized
[    3.403438] Bluetooth: HCI UART driver ver 2.3
[    3.403439] Bluetooth: HCI UART protocol H4 registered
[    3.403439] Bluetooth: HCI UART protocol BCSP registered
[    3.403440] Bluetooth: HCI UART protocol LL registered
[    3.403440] Bluetooth: HCI UART protocol ATH3K registered
[    3.403441] Bluetooth: HCI UART protocol Three-wire (H5) registered
[    3.403491] Bluetooth: HCI UART protocol Intel registered
[    3.403504] Bluetooth: HCI UART protocol BCM registered
[    3.403504] Bluetooth: HCI UART protocol QCA registered
[    3.403505] Bluetooth: HCI UART protocol AG6XX registered
[    3.478393] Bluetooth: hci0: Firmware revision 0.1 build 68 week 27 2016
[    4.884372] thinkpad_acpi: rfkill switch tpacpi_bluetooth_sw: radio is 
unblocked
[    5.560960] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[    5.560961] Bluetooth: BNEP filters: protocol multicast
[    5.560963] Bluetooth: BNEP socket layer initialized
[   10.825093] Bluetooth: RFCOMM TTY layer initialized
[   10.825097] Bluetooth: RFCOMM socket layer initialized
[   10.825101] Bluetooth: RFCOMM ver 1.11
================= END OF WORKING CASE ===================

================== NOT WORKING CASE =====================
[    3.536266] Bluetooth: Core ver 2.21
[    3.536275] Bluetooth: HCI device and connection manager initialized
[    3.536276] Bluetooth: HCI socket layer initialized
[    3.536278] Bluetooth: L2CAP socket layer initialized
[    3.536281] Bluetooth: SCO socket layer initialized
[    3.546498] Bluetooth: HCI UART driver ver 2.3
[    3.546499] Bluetooth: HCI UART protocol H4 registered
[    3.546500] Bluetooth: HCI UART protocol BCSP registered
[    3.546500] Bluetooth: HCI UART protocol LL registered
[    3.546501] Bluetooth: HCI UART protocol ATH3K registered
[    3.546501] Bluetooth: HCI UART protocol Three-wire (H5) registered
[    3.546532] Bluetooth: HCI UART protocol Intel registered
[    3.546544] Bluetooth: HCI UART protocol BCM registered
[    3.546545] Bluetooth: HCI UART protocol QCA registered
[    3.546545] Bluetooth: HCI UART protocol AG6XX registered
[    3.632162] Bluetooth: hci0: Bootloader revision 0.0 build 26 week 38 2015
[    3.633833] Bluetooth: hci0: Device revision is 16
[    3.633834] Bluetooth: hci0: Secure boot is enabled
[    3.633835] Bluetooth: hci0: OTP lock is enabled
[    3.633835] Bluetooth: hci0: API lock is enabled
[    3.633836] Bluetooth: hci0: Debug lock is disabled
[    3.633836] Bluetooth: hci0: Minimum firmware build 1 week 10 2014
[    3.633984] bluetooth hci0: Direct firmware load for intel/ibt-12-16.sfi 
failed with error -2
[    3.633985] Bluetooth: hci0: Failed to load Intel firmware file (-2)
[    3.774670] Bluetooth: hci0: Bootloader revision 0.0 build 26 week 38 2015
[    3.777812] Bluetooth: hci0: Device revision is 16
[    3.777813] Bluetooth: hci0: Secure boot is enabled
[    3.777814] Bluetooth: hci0: OTP lock is enabled
[    3.777814] Bluetooth: hci0: API lock is enabled
[    3.777814] Bluetooth: hci0: Debug lock is disabled
[    3.777815] Bluetooth: hci0: Minimum firmware build 1 week 10 2014
[    3.777913] bluetooth hci0: Direct firmware load for intel/ibt-12-16.sfi 
failed with error -2
[    3.777915] Bluetooth: hci0: Failed to load Intel firmware file (-2)
[    4.760374] thinkpad_acpi: rfkill switch tpacpi_bluetooth_sw: radio is 
unblocked
[    5.455861] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[    5.455866] Bluetooth: BNEP filters: protocol multicast
[    5.455889] Bluetooth: BNEP socket layer initialized
================= END OF NOT WORKING CASE ===================

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https://bugs.launchpad.net/bugs/1561474

Title:
  Bluetooth will be disable after resume from suspend on Xenial

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