Called whirlpool and explained the problem. They said I need to replace that upper sensor and so they sent me a part in the mail which cost roughly $25. (usd) not including the overnight shipping which is around another $25 or so. This picture is what I received in the mail. Comes with directions of installment. 
Is it possible to scan this document and upload?
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I have the exact same model. A few days ago, I noticed the six flash failure signal plus loss of hot water. I looked at the sensor - and being a passive component - I found it very hard to believe this item failed. It looked brand new. So I replaced the cap and reset the main controller board. It has been working fine ever since. I jiggled all the connectors to make sure I was getting good contact. Works like a champ again.
Just wanted to add my experience with this same problem. First time it happened was last year, about this same time of year. I ordered the part, paid $20 for shipping, and installed it when it came in. Everything worked fine until this year, when, with a house full of guests, it started flashing and shut down again. I called Whirlpool, got the same offer under warranty, and told them I'd rather buy a new hot water heater. Just before I hung up, the help desk person suggested I turn the control to off, and disconnect the sensor for 3 or 4 minutes, then plug the sensor back in and relight the pilot. I turned the control to OFF, disconnected the sensor and came back in an hour. I plugged the sensor in, and relit the hot water heater. That was 2 days ago -- it's been working ever since. Good luck!
UPDATE: Upper Sensor failure returned -- again, and again, and again. I've found that shutting down the heater and letting it sit for a couple hours allows me to relight the pilot and get a full tank of hot water. Going to order ANOTHER replacement sensor (thermistor) from Whirlpool and pay the outrageous $20 shipping -- this should ship via US Mail for $1. When it fails again in a year, I'm replacing the unit.
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Hi Everyone, I'm back again almost a year later with the exact same failure mode. I went through the process of resetting heater - removing and replugging the connectors to no avail. I looked at the Upper sensor - it looked fine. Out of idle curiosity - I looked at the lower sensor and to my shock - I noticed the plastic threading on the sensor was cracked and no longer sitting against the tank. I pushed on it and it snapped against the side wall of the tank. I then restarted heater and it worked like a champ again. The sensor is mounted on a threaded stud and if the sensor comes loose again - I
I'm going to purchase a nut that will fit and hand tighten the sensor against the tank. Well I've learned that the manufacturer in this case crossed wires which made it a headache for me to trouble shoot. Hope this helps another weary soul out there who wants to fix this problem.
How old is your unit? Ours is only 4yrs old. Should this be happening so soon?
Michael Douglas: same problem here .. 6 flash upper sensor light .. but it was the lower temp sensor that was loose on its stud. Seems like Whirlpool left the nuts off the temp sensor studs (upper and lower) .. added 10-24 nuts to tighten up sensor ... but the 6 flash code is back, after 1 day of running .. more troubleshooting ...
update: upper and lower thermistor temp sensors reading around 2.7 kohms .. so probably both are good .. replugged the 4way white connector into bottom of control unit several times .... water heater has been operating normally now for 24hrs ... suspect that white connector/terminals is the typical junk used in most appliances .. if problem returns ... I will solder the thermistor leads directly to the controller circuit board.
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