I have managed to bypass this problem by manipulation the Python code of
the upgrade process. But it is far easier to bypass it properly by
setting up a config file in /etc/update-manager/release-
upgrades.d/*.cfg.

According to http://askubuntu.com/questions/425355/error-authenticating-
some-packages-while-upgrade one needs to create a file /etc/update-
manager/release-upgrades.d/unauth.cfg with the contents:

[Distro]
AllowUnauthenticated=yes

The upgrade runs smoothly through.

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https://bugs.launchpad.net/bugs/1550922

Title:
  dist-upgrade from Ubuntu Mate 14.04.4 LTS to 16.04 LTS (Beta1) fails

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