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I've been wondering the same... from what i've gathered you stay in the highest gear that you can without having to be at full throttle to maintain speed. There's a hill near my work that i can stay at 40km/h in 5th gear all the way up using about 80% throttle 1500rpm, so i don't downshift. If i did downshift, i'd be at about 1900rpm using only 25% throttle.
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