I have figured out how to roll back to Lollipop.
First download the ROM nv-recovery-image-shield-atv-upgrade2_1_dev_rooted.zip.
Next download twrp-multirom-20151112-UNOFFICIAL-foster.img.
Boot SATV into Fastboot.
Extract and flash staging blob, boot.img, system.img, userdata.img (this will wipe the internal storage) and dtb file.
Reboot back into Fastboot.
Flash TWRP then boot directly into recovery (do not reboot).
From TWRP mount system as read-write.
Use the file manager to navigate to /system/app/TegraOTA.
Delete all files within the folder TegraOTA.
Reboot normally and go through the first time setup wizard. SATV will not download the OTA update and remain on 5.1 Lollipop.