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I had a similar issue back in 6.0 days. If I remember correctly, I changed the update url from updates.paloaltonetworks.com to staticupdates.paloaltonetworks.com, made sure dynamic updates were working and installed, and then downloaded and installed the firmware. Despite theoretically being able to go to to 6.0.15 without havng to both download and install 6.0.0, I've also seen an issue where that doesn't work. Still have that issue with 7.1 actually. The dead giveway there is that is the 6.0.0 image will diseapear from the firewall once it fails to install 6.0.15. So I'd also go 5.1.19 to 6.0.0 while installing the 6.0.0 version, then after reboot you can download the 6.0.15 version and install it.
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