The shallower the depth of discharge before recharging, and the less time the battery sits at < 100% charge, the greater its life. I recharge any battery used that day every night. With only one Grand, that was down to 3.6-3.7V when the bottle was used up in 16 hours. With two Grands, the 2000 mAH in the work/commute tumbled is used about 9 hours (0.8Ω), and the 1600 mAH in the home powdercoat about 7 hours (0.5Ω), both between 3.8 - 3.9V when pulled. I rotate three batteries per Grand and I'm probably not the only one with a multimeter next to my family room chair.
I actually thought the opposite...not based on any real information mind you...I just thought it was better to more fully discharge the battery before sticking it on a charger. So, this is good information to know.