Baby thrashing body crying at night what is it

Marilyn
This is driving us insane .
She's always done this. She's 6months old
And wakes up crying loud every hour or so into her sleep at night only . I can't get sleep because of it. All the while her eyes are
Closed . She's grabbing blankets her feet, thrashing around . Jerking but eyes closed.  It's not a quiet whimper either. Day sleep she doesn't
Do it. Anyone else's lo so this ? She otherwise very healthy. 

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