That is the essence of the question. Not many people know...but many will still tell you "don't [fill in the blank], it's bad for your battery." Those statements are usually accompanied with vague or undefined variables like: too low, sooner, completely drained, more life, etc..
So I like to ask: How low?, How soon? What is completely drained? How much more life? etc...
So to clear up a few things in this thread:
-An AW IMR's safe minimum voltage is 2.5V resting voltage. Most regulated APVs do indeed cutoff at 3.2v under load. This means that a regulated APV will never fully discharge a battery, meaning that it is completely safe to use an APV all the way down to the low voltage cutoff.
-You can recharge at any voltage you like. Early recharging will not harm the battery or the performance.
-There is little life to gain by recharging early (Yes, I have read the Battery University page, and the ECF Guide for prolonging battery life

). Nobody,except for guys in white lab coats, measures battery life by number of charge cycles. A normal person measures battery life by a unit of measure that is usually found on a calender; weeks, months, years. So if one battery is only discharged to 50% it's whole life and in turn doubles the number of charge cycles, but requires charging twice as often as a battery discharged to 100%...which one lasts longer?
-Technically, the damage starts the very first time you charge the battery. Accelerated damage occurs due to a couple different factors, but for the topic at hand; accelerated damage occurs below 2.5v and above 4.25v.