http://www.surina.net/soundtouch/soundstretch.html
Your audio is 6339.56s and you want to make it 5766.88s?
6339.56/5766.88 * 100% = 109.93%, so you want to increase the tempo by 9.93%.
The command would be:
soundstretch input.wav output.wav -tempo=9.93
This will make your audio the desired length. However, syncing audio to video is not as simple as just adjusting the length. If you explain clearly what you are trying to do, then you might get some better help.