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http://buzz.trestons.com/tech/apps-internet/apple-fixes-error-53-issue-with-ios-update/332

Apple has released a software update for iOS, which the ’53’-error problem is solved.
Users with an iPhone, iPad or iPod can install iOS 9.2.1. Devices affected by the error 53 error message after you install this update again correctly. Apple describes a website how the update can be installed on a faulty phone.