Conclusion is that the easiest moment for us to get up is to wake up between cycles (at the beginning of a new cycle) during REM. Brain activity then is very high, almost like during daylight. Awakened at this moment we are immediately ready to start a new day. Knowing that the entire cycle lasts 90 minutes - plan to sleep so that its length is a multiple of 90 minutes. Set the alarm clock to wake you up for example after of 6 or 7.5 hours sleep (add some time which you need to fall asleep). You'll see that when you wake up at the end of cycles, you are refreshed and full of energy.
Now you see that feeling good after waking up does not depend from the length of your sleep, but mainly from the moment you wake up! Of course, everyone is different and cycle length may vary slightly. Therefore, if you still feel tired after 6-7.5 horus, test 6.5-8 hours. After establishing the optimal length of sleep you'll always be able to wake up refreshed and full of energy :)
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