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The accident occurred when the women from Allavaram village were going to Lord Venkateswara Temple at Vadapalli, the police said.
Five of the auto passengers were killed on the spot, while another died on way to the hospital.
One of the injured was later shifted to a government hospital in Kakinada.
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Deputy Chief Minister (Home) N China Rajappa rushed to the accident site at Modekurru and later to the hospital to inquire after the health of the injured.
State Health Minister K Srinivas also spoke to district health officials in East Godavari.
Police took the tipper driver into custody and launched an investigation.