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How far can you drain the battery before damaging it?

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Telsa says not to run down the battery too low? What is a comfortable remaining range before you risk damaging the battery? 40 miles?
You can operate the car safely to zero; there is a reserve below that which you cannot tap by driving (except in a "limp home" mode). It is very important, though, to plug in your car soon when the battery is low.
 
With my Roadster I adopted a policy of keeping a reserve of 30 ideal km (about 20 ideal miles) at all times. You never know when you might hit a detour, or your GPS invents a nonexistent highway exit ramp (yes that really happened to me). I intend to maintain that policy for the Model S, even though it has a small hidden reserve.