I'm guessing the 51 or 53 would fit well. as long as you have standover clearance, i'd go with the right top tube. do you have a road bike? does it fit well? that could be a good guide for a TT length. I'd recommend the same or .5 cm shorter. It really depends on torso/leg length and not necessarily height.
the tough thing is if you're long torso'd you'd want a longer bike but standover could be tight. compact frames can help here.