I also have this problem with my rMBP 2013 and my iPad. I tested 3 different cables and all of them didn't work.
I fixed it by using an USB 2.0 Hub (Bus Powered) between the MacBook and the iPad.
The only problem is, that you can't charge your iPad with an USB Hub but you can sync.
This is really annoying. I talked with Apple Support and they said I should replace the MacBook's logic board.
Do you think this could completely solve this issue?
Edit: I found something interesting:
If i launch a VM (Fusion) and connect the iPad directly to the VM, it stays connected. If I then disconnect it from the VM and connect it to OS X (without unplug),
the iPad also stays connected. But if i unplug the cable and reconnect it, the same problem occurs again.