I am not going to say surfacing with 20 bar is a good thing to do routinely, but 20 bar is roughly 300psi....that is plenty of usable air especially at 6 meters...the whole reason for the rule of thumb to surface with 50bar/500psi (and I know they don't compute as equal), is to have a reserve for that rare occasion when the s**t hits the fan....and when the s***t is hitting the fan all the air in the tank should be considered usable.
You have plenty to beat yourself up over, surfacing with 20bar because you were trying to keep a bad situation from getting worse is not one of them. Had your story ended with you stating that you did not know that you only had 20 bar left until you surfaced, well then you would probably be reading a different response, and my post would probably get deleted by the moderators.
Good job in staying alive...learn from the mistake, be humbled by it, and apply it to your diving. You may want to rethink who you dive with as for your group to grossly exceed the depth limit of the dive plan and to conduct a deco dive without planning the gas is just all shades of irresponsible...not the level of responsibility I expect of the kind of people with which I want to enter an environment hostile to my survival, but that is a decision you need to evaluate.
-Z