Yes, that's it. As I recall, the correct procedure is to turn off the radio/CD head unit, insert an empty cartridge, then turn on the head unit. The changer should cycle through all 6 positions and push the CD into the cartridge. If this doesn't work, unplug the DIN cable to the changer for 30 seconds, and make sure the head unit is turned off when you plug the DIN back in. Then insert the empty magazine and you should be back in business.
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