Cardiac output is the amount of blood pumped by the heart per minute, normally around 5 liters. It is determined by stroke volume and heart rate. Stroke volume is the volume of blood pumped out of the ventricles with each beat, normally 70ml. Stroke volume depends on preload, contractility, and afterload. Preload refers to the degree of tension on ventricular muscle at the start of contraction. Contractility is the force of ventricular contraction. Afterload is the pressure the ventricles must pump against. Cardiac output can be measured using echocardiography, indicator dilution, thermodilution, ballistocardiography, or cardiac catheterization using Fick's principle.