Thanks for the suggestion. The cable was the original one that came with my iPad Pro. However, I tried a different one and I'm still getting the same error.
Console output below:
6/14/16 7:19:40.650 PM iTunes[2297]: Entered:_AMRecoveryDeviceConnected, libusbrestore-device:0xCC9195F0
6/14/16 7:19:40.650 PM iTunes[2297]: Entered:__thr_AMRecoveryDeviceConnected, libusbrestore-device:0xCC9195F0
6/14/16 7:19:43.632 PM iTunes[2297]: Entered:_AMMuxedDeviceDisconnected, mux-device:11
6/14/16 7:19:43.632 PM iTunes[2297]: Entered:__thr_AMMuxedDeviceDisconnected, mux-device:11
6/14/16 7:19:43.632 PM iTunes[2297]: tid:1fb87 - Mux ID not found in mapping dictionary
6/14/16 7:19:43.633 PM iTunes[2297]: tid:1fb87 - Can't handle disconnect with invalid ecid
6/14/16 7:19:59.176 PM iTunes[2297]: tid:14c27 - Created state machine for device with ECID=0x28F38226
6/14/16 7:19:59.176 PM iTunes[2297]: tid:14c27 - State Machine Dump, status:RUNNING - [state:Recovery remaining-cycles:2 (current state)] -> [state:RestoreOS remaining-cycles:1]
6/14/16 7:19:59.183 PM iTunes[2297]: tid:1c62b - no override trust object found
6/14/16 7:19:59.496 PM iTunes[2297]: tid:1c62b - amai: AMAuthInstallRequestSendSync: SSO function returned NULL and no SSO token was provided, SSO disabled.
6/14/16 7:20:04.490 PM iTunes[2297]: tid:16903 - iTunes: OS-mode device appeared, device 0x7fa4cca0c2c0
6/14/16 7:20:04.490 PM iTunes[2297]: tid:16903 - iTunes: device 0x7fa4cca0c2c0 doesn't have USB interface; ignoring
6/14/16 7:20:10.946 PM iTunes[2297]: Entered:_AMMuxedDeviceDisconnected, mux-device:12
6/14/16 7:20:10.946 PM iTunes[2297]: tid:16903 - received kAMDeviceDetached action, device id 4534F08A22DB66FB (0x7fa4cca0c2c0)
6/14/16 7:20:10.946 PM iTunes[2297]: Entered:__thr_AMMuxedDeviceDisconnected, mux-device:12
6/14/16 7:20:10.947 PM iTunes[2297]: tid:25a0b - Mux ID not found in mapping dictionary
6/14/16 7:20:10.947 PM iTunes[2297]: tid:25a0b - Can't handle disconnect with invalid ecid
6/14/16 7:20:31.901 PM iTunes[2297]: tid:16903 - iTunes: OS-mode device appeared, device 0x7fa4cfb8b250
6/14/16 7:20:31.902 PM iTunes[2297]: tid:16903 - iTunes: device 0x7fa4cfb8b250 doesn't have USB interface; ignoring
6/14/16 7:20:38.274 PM iTunes[2297]: Entered:_AMMuxedDeviceDisconnected, mux-device:13
6/14/16 7:20:38.274 PM iTunes[2297]: tid:16903 - received kAMDeviceDetached action, device id 4534F08A22DB66FB (0x7fa4cfb8b250)
6/14/16 7:20:38.274 PM iTunes[2297]: Entered:__thr_AMMuxedDeviceDisconnected, mux-device:13
6/14/16 7:20:38.274 PM iTunes[2297]: tid:1fb8b - Mux ID not found in mapping dictionary
6/14/16 7:20:38.274 PM iTunes[2297]: tid:1fb8b - Can't handle disconnect with invalid ecid
6/14/16 7:20:58.317 PM iTunes[2297]: Entered:_AMMuxedDeviceDisconnected, mux-device:14
6/14/16 7:20:58.318 PM iTunes[2297]: Entered:__thr_AMMuxedDeviceDisconnected, mux-device:14
6/14/16 7:20:58.318 PM iTunes[2297]: tid:1355b - Mux ID not found in mapping dictionary
6/14/16 7:20:58.318 PM iTunes[2297]: tid:1355b - Can't handle disconnect with invalid ecid
6/14/16 7:21:04.249 PM iTunes[2297]: tid:16903 - iTunes: OS-mode device appeared, device 0x7fa4ccb10630
6/14/16 7:21:04.249 PM iTunes[2297]: tid:16903 - iTunes: device 0x7fa4ccb10630 doesn't have USB interface; ignoring
6/14/16 7:21:13.024 PM iTunes[2297]: tid:16903 - received kAMDeviceDetached action, device id 4534F08A22DB66FB (0x7fa4ccb10630)
6/14/16 7:21:13.025 PM iTunes[2297]: Entered:_AMMuxedDeviceDisconnected, mux-device:15
6/14/16 7:21:13.025 PM iTunes[2297]: Entered:__thr_AMMuxedDeviceDisconnected, mux-device:15
6/14/16 7:21:13.025 PM iTunes[2297]: tid:2621f - Mux ID not found in mapping dictionary
6/14/16 7:21:13.025 PM iTunes[2297]: tid:2621f - Can't handle disconnect with invalid ecid
6/14/16 7:21:15.093 PM iTunes[2297]: tid:1c62b - amai: tss_submit_job: SendHttpRequest failed -1
6/14/16 7:21:15.093 PM iTunes[2297]: tid:1c62b - amai: AMAuthInstallRequestSendSync: failed tss submission:
6/14/16 7:21:15.094 PM iTunes[2297]: tid:1c62b - amai: AMAuthInstallApCreatePersonalizedResponse: server request error:
6/14/16 7:21:15.094 PM iTunes[2297]: tid:1c62b - amai: AMAuthInstallBundlePersonalizePartial: failed to create ap ticket
6/14/16 7:21:15.094 PM iTunes[2297]: tid:1c62b - failed to personalize the restore bundle:
6/14/16 7:21:15.095 PM iTunes[2297]: tid:1c62b - AMRecoveryModeDeviceCopyAuthInstallPreflightOptions: failed to personalize bundle
6/14/16 7:21:15.095 PM iTunes[2297]: tid:1c62b - Failed to copy preflight options during recovery mode restore.
6/14/16 7:21:15.095 PM iTunes[2297]: tid:1c62b - State Machine Dump, status:ERROR - [state:Recovery remaining-cycles:1 (current state)] -> [state:RestoreOS remaining-cycles:1]
6/14/16 7:21:15.095 PM iTunes[2297]: tid:1c62b - State is now set to error
6/14/16 7:21:15.095 PM iTunes[2297]: tid:1c62b - Device isn't booted but USB is up.
6/14/16 7:21:15.096 PM iTunes[2297]: tid:1c62b - Can't stop watching device log we're not watching
6/14/16 7:21:15.096 PM iTunes[2297]: tid:1c62b - amai: AMAuthInstallPlatformRemoveDirectory: failed to remove directory: No such file or directory
6/14/16 7:21:15.096 PM iTunes[2297]: tid:1c62b - Failed to remove directory file:///tmp/PersonalizedBundle_F211E7E2-CBE6-4E01-AC8E-6C9181D5F358
6/14/16 7:21:15.644 PM iTunes[2297]: tid:14c27 - iTunes: Restore error 4294967295