Episode 230 "Super Saiyan 3"
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Goku does not turn super saiyan 6 or 5 in fact. and it only goes up to super saiyan 3 in the manga and super saiyan 4 in the cartoon.
Dragon Ball Z Kai episode 47
after goku summon shenron
goku turns into super saiyen after freeiza full power killed krillen. goku needs to get angry to turn into super saiyen
Episode 214: Vegeta's Pride. Goku turns to USSJ (Ultra Super Saiyan) and USSJ2 in the Hyperbolic Time Chamber. He turns to SSJ2 while fighting Majin Vegeta.