My speedometer reads about 4% high. YMMV.
Harlan posted instructions for recalibrating the speedometer
here, though I have not yet tried them.
There are 11 visible bars on the "fuel" gauge. The first bar often seems like it has 2/3 the energy of the other bars (probably due to the charge terminating around 97-99% SOC); otherwise the bars feel very linear, probably within 10% of each other.
When the final bar disappears, the battery is at approximately 15% SOC. If discharged to 0% 0% SOC then it effectively has an extra 1.5 - 2.0 invisible capacity bars. I view these as an emergency reserve and try to avoid regularly tapping into it; the battery pack will probably live longer if it is not fully discharged, and as it ages the battery may increasingly hit its lower-voltage cutoff well before 0% SOC.
You will probably be well-served to determine the margin of error on both of these parameters for yourself; eg measure a route via GPS then compare to bike odometer, and record miles at a certain speed for each bar, then do a loop near to home until the battery cuts out. Or as near as you care to take it.