Rule of thumb is "a chunk under 4V per cell."
I check mine before they go back into the bag and anything under 7.7-7.8 ish i leave. 7.9 i might discharge depending on how rushed i am.
Though to be fair i only charge the batteries just before i use them so the only time i get a charged battery needing discharge is if i break a car badly enough to give up for the day.........
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