As a rental property, it is not subject to the Home Mortgage Interest Deduction, which sucks(if I'm reading the IRS right, and it's pretty plain-text for them).
So... at 6%, and a guarenteed 6%, it's a tough call. I would advise you that paying it off at this point is somewhat a form of market timing. That said, it -is- a guaranteed 6% return on your money, which is great at this point in time. Along with that, it may be a decent piece of mind issue. If it were me, I wouldn't destroy all my savings to do it, but I'd enjoy being free from debt like that more than I'd enjoy increasing my investments by an equivalent amount...
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especially in this market.