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Idealy you want to shift at a point high enough as not to allow the engine to fall out of its "POWERBAND" or range. Also shifting to high can acctually hurt performance if you don't an engine that is set up for performance.
For instance you have a engine that has a peak of 400 HP @ 5000 rpms. Torque curve really get agressive around 2800 rpms. HP may really fall off at 6200 rpms. All this given I would want to shift from first to second at around 6000 rpms, stightly earlier than HP fall off as to avoid power lose. Then You don't want tolet the rpms to fall below 3000 rpms after the shift is complete. Do the same ffor the 2-3 shift. and so on.
If for some reason you are falling out of your IDEAL shift zone after a shift then you would want to look into lowering your rear gear ratio. A short term solution to falling out of Ideal shift zone may be to rev slightly higher. Although over reving may result in lost speed and slower ET.
I hope this is not to technical for what you were looking for. IE I hope you weren't looking for a simple answer like 5000 rpms. There are to many inputs to take in to consider a simple answer like that.
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