Just chiming in here... I was having the same problem with ios 10 and xcode 8. Turning off the device's wifi when deploying worked for me.
Airplane mode.Xcode closed.iTunes closed. Same problem.
Is there any update on this? I have the same issue.
We're going to improve error reporting when deploying to a device in the next release. This will print some system error string that will hopefully be more useful than the error code.