Step 1: Derive the pipe capacity per foot of length:
Instead of finding the total volume first, find the capacity of the drill pipe per foot of its length. The volume per foot, in ft$^3$/ft, is $\pi/4$ times the internal diameter squared, with the diameter in feet: $ID = 4.67/12 = 0.38917$ ft, so $ID^2 = 0.15145$ ft$^2$. The volume per foot is $\dfrac{\pi}{4} \times 0.15145 = 0.7854 \times 0.15145 = 0.11895$ ft$^3$/ft.
Step 2: Convert the per foot capacity to barrels per foot:
Dividing by 5.61 ft$^3$ per barrel gives the capacity in bbl/ft: $0.11895 / 5.61 = 0.021203$ bbl/ft.
Step 3: Multiply by the total pipe length to get total capacity:
Multiplying the capacity per foot by the 6000 ft of drill pipe: $0.021203 \times 6000 = 127.22$ bbl. This matches the total volume found by computing the full pipe volume first and converting afterward, confirming the capacity is correct.
Step 4: Divide by the pump output rate to get the circulation time:
The pump output rate is $80$ cycles per minute times $0.21$ bbl per cycle, which is $16.8$ bbl/min. Since the drill collar and bit assembly hold a negligible volume, the surface to bit circulation time is: $t = 127.22 / 16.8 = 7.5728$ minutes, which rounds to $7.57$ minutes.
Final Answer:
\[ \boxed{7.57 \text{ minutes}} \]