R4 node battery life (U2 power budget, 2000 mAh, 80% usable) by sampling period:
  period    60 s: average 3.210 mA, life   20.8 days, share of charge in the 2 s awake: 99.7%
  period   120 s: average 1.610 mA, life   41.4 days, share of charge in the 2 s awake: 99.4%
  period   300 s: average 0.650 mA, life  102.6 days, share of charge in the 2 s awake: 98.5%
  period   600 s: average 0.330 mA, life  202.0 days, share of charge in the 2 s awake: 97.0%
  period  1800 s: average 0.117 mA, life  571.5 days, share of charge in the 2 s awake: 91.4%
ABLATION on the sampling period, tuned detector (threshold 0.33), p_loss 0.10, 40 days each:
  period    60 s: success 100.0%  dry plant-h  0.00  litres  5.38  messages/day   2902  bytes/day   74520  uplink p95 1.16 s
  period   120 s: success 100.0%  dry plant-h  0.00  litres  5.15  messages/day   1460  bytes/day   37658  uplink p95 1.16 s
  period   300 s: success 100.0%  dry plant-h  0.01  litres  4.76  messages/day    594  bytes/day   15482  uplink p95 1.16 s
  period   600 s: success  99.6%  dry plant-h  0.21  litres  4.30  messages/day    304  bytes/day    8028  uplink p95 1.17 s
  period  1800 s: success  54.9%  dry plant-h  6.25  litres  3.33  messages/day    107  bytes/day    2895  uplink p95 1.17 s
R14 delivered fraction at p = 0.10 with QoS 1 (5 attempts): 100.000% of 12155 messages; theory 1 - p^5 = 99.999%; QoS 0 would give 90.0%
R2 sensor to cloud latency (s): {'p50': 0.162, 'p95': 1.168, 'p99': 1.631, 'p99.9': 2.861} ; command latency (s): {'p50': 0.164, 'p95': 1.171, 'p99': 1.416} ; share of uplink messages over 2 s: 0.964 %
  loss 0.1: share of delivered uplink messages over 2 s 0.96%  p99 1.63 s
  loss 0.3: share of delivered uplink messages over 2 s 8.48%  p99 3.19 s
  loss 0.5: share of delivered uplink messages over 2 s 21.79%  p99 4.21 s
R6 plants watered when dry: success 99.6 % within 30 min; dry plant-hours per day 0.21 ; events per day 2.58 ; legs failed per day 0.125
R2 retry timer sweep at p = 0.10 (QoS 1 retry interval): share of uplink messages over 2 s, p95, p99:
  retry 1.0 s: over 2 s 0.964%  p95 1.168 s  p99 1.631 s ; bytes per message 26.4 B
  retry 0.5 s: over 2 s 0.026%  p95 0.674 s  p99 1.086 s ; bytes per message 26.4 B
  retry 0.3 s: over 2 s 0.000%  p95 0.508 s  p99 0.740 s ; bytes per message 26.4 B
  retry 0.2 s: over 2 s 0.000%  p95 0.450 s  p99 0.631 s ; bytes per message 26.4 B
  retry 0.3 s at loss 0.3: over 2 s 0.00%  p99 1.11 s
  retry 0.3 s at loss 0.5: over 2 s 0.00%  p99 1.42 s
ODOMETRY-ONLY navigation inside the system: success 0.0%, dry plant-h 39.44, leg failures per day 66.6, trips 66.6, energy 270 mAh = 13% of the usable pack
EKF-quality navigation: success 99.6%, dry plant-h 0.21, leg failures per day 0.125
rover battery: days per charge with the event system 6.9 ; energy per watering 17.58 mAh
