I know this thread is a bit old but I just wanted to share my results from trying to upgrade from 5.0.3 to 5.1.0. I was getting the 006 error, even after reversing everything I could recall modifying.
Finally I resorted to downgrading to 5.0.0 via Geekmaster's guide on flashing the mmcblk0p1 image, which ran very smoothly and worked perfectly the first time.
After I had a clean version of 5.0.0, I was able to upgrade to 5.1.0 on the first try with no problems. At this point, the jailbreak_kt510 tool worked perfectly along with all the other tweaks, such as launcher, usbnetwork, and a few others.
Thanks to Yifan, Ixtab, and Geekmaster for being so active and pushing the jailbreak support to 5.1.0.
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