I've been having the same problem off and on for a week now. I don't know what initiates that Gear VR message but when it does my phone won't charge properly.
When the phone is plugged into the charger, it will continually start and stop charging as though I was unplugging and re-plugging the micro usb plug.
Wife had the same issue months back. Sent to samsung repair place in Texas. Replaced charging port. Plus since the year it apart replaced screen.I had the same problem. It is a charging port problem. Take it back to your carrier and get them to replace it. I had done a factory reset, new cable, new wall wart as well as tried my wife's note 5 cable. None of those things fixed the issue.