I had the same problem upgrading to bluez_4.53.
My /etc/init.d/bluetooth didn't had a "pkill -TERM bluetoothd" line, instead it 
had a "killall bluetoothd" line, so i did the same as suggested before and 
changed the line to be "killall bluetoothd || true", restarted bluetooth and 
then the upgrade worked fine.

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Upgrading from bluez 4.45-0ubuntu{1,2} to 4.45-0ubuntu3 or later fails
https://bugs.launchpad.net/bugs/399482
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