~ $ hciconfig noauth
This should do the trick (I'm using bluez 5.23 and there's no more simple-egent and blue-utils). However, I'm trying to look for a way to make changes hciconfig permanent because after power out and then power on, authentication is needed again. So far, the changes in hciconfig still stays the same when you reboot it. it reverts back only when power out. If anybody has found a way to make hciconfig permanent, do let me know!