That's why they call it "stick" welding.
It just takes practice to strike a clean arc. Even more practice to strike it exactly where you want to. 6013 isn't too bad for clean starts. Use a motion like striking a match, where you are moving the stick before it touches the metal, then pull away just a bit as the arc starts. Different rods start differently and especially restarts. You might want to bump up your amperage a little depending on the material you are welding. Also make sure the 140ST is set in the stick mode, so the auto hot start feature will work.
Long arc, short arc, heliarc and in-the-dark!