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Another thing that may be helpful is to factor in variable bitrate encoding, which means that it is difficult to predict exactly what the average and maximum bitrate will be for any given segment.
When encoding, set the target bitrate of your audio-only stream low enough so that no segments go above 64kbit/s (the right number takes a bit of trial and error).
We ran into the same issue. Apple doesn't only inspect your M3U8 file to ensure it complies. They also monitor your streams to make sure they are what you say they are. Our stream turned out to be higher-than-64K -- because we didn't factor in the audio bandwidth (a careless, but important oversight). Remember that 64K applies to the entire stream: Video + Audio <= 64000.
If you are in doubt, Apple also offers the same stream-monitoring software. If you ask them, they will provide you a link to it. At least they did to my group.