Mine was giving me the invalid device message so I went into the phone's bluetooth settings and disabled the bluetooth dial-up networking and serial port profiles and now it connects without trouble.
I have the same problem with my D3 / PIoneer back up cam.
I think I have narrowed it down to Heat. When the truck is cold cam works fine. When it's been running a while pic gets distorted. I am going to upgrade to a heat rated cable.