ideviceinfo (libimobiledevice): GnuTLS error: Error in the pull function

Cannot connect to IPhone 5S with ifuse or ideviceinfo due to GnuTLS error.

Reproducable on Ubuntu 16.04.2 LTS and Ubuntu 15.04.

ideviceinfo
GnuTLS error: Error in the pull function.
ERROR: Could not connect to lockdownd, error code -5

As far as I know from google, the current IOS 10 release uses TLS instead of the insecure SSLv3.
libimobiledevice (used by ideviceinfo) must be configured to use GnuTLS with TLS to successfully connect to IOS 10.
For IOS 9 there are some (not recommended because insecure) hacks to re-enable SSLv3 to get it working.
But I couldn't find any instructions how to get this working without compromising security.

Other idevice tools like idevicebackup also don't work.

Successfully using ifuse and idevicebackup for backup purposes is quite urgent for me to have a recent backup in case attackers could manage to remotely compromise or erase iphones as mentioned in the latest news.

lsb_release -rd
Description: Ubuntu 16.04.2 LTS
Release: 16.04

Paket: libimobiledevice6
Zustand: Installiert
Automatisch installiert: ja
Multi-Arch: same
Version: 1.2.0+dfsg-3~ubuntu0.2
Priorität: optional
Bereich: libs
Verwalter: Ubuntu Developers <email address hidden>
Architektur: amd64
Unkomprimierte Größe: 181 k
Hängt ab von: libc6 (>= 2.15), libgcrypt20 (>= 1.6.1), libgnutls30 (>= 3.4.2),
              libplist3 (>= 1.11), libtasn1-6 (>= 4.5), libusbmuxd4 (>= 1.0.10)
Empfiehlt: usbmuxd
Schlägt vor: libusbmuxd-tools
Kollidiert mit: libiphone0
Beschädigt: libimobiledevice6:i386 (!= 1.2.0+dfsg-3~ubuntu0.2)
Ersetzt: libimobiledevice0, libimobiledevice1, libiphone0,
         libimobiledevice6:i386 (< 1.2.0+dfsg-3~ubuntu0.2)
Beschreibung: Bibliothek zur Kommunikation mit dem iPhone und iPod Touch.
 Die Bibliothek libimobiledevice beherrscht die nativen USB-Protokolle von
 Apple, welche von iPhone und iPod Touch verwendet werden. Im Gegensatz zu
 anderen Projekten hängt libimobiledevice nicht von der Verwendung irgendwelcher
 vorhandener Apple-Bibliotheken ab.
Homepage: http://libimobiledevice.org/