Depending on heat, a fully charged Li+ battery will lose between 15-30% of its capacity per year. If you keep its charge between 40-60%, it will lose only around 4-10% per year.
Tesla estimates that after 5 years, their battery packs will still have 70% of their original capacity, which would seem to indicate that this is indeed what they're doing (70%^(1/5) = 93%, or 7% loss per year). That sucks for a car which is entirely powered by its battery, since it means that a Tesla could, at a long-term cost to total capacity, potentially have at least twice the range its control system will allow. It seems like that would be a decent feature to give for people making occasional long trips.
Here's the third link from a Google search for "tesla roadster battery degradation" (the first one not written by a "green car" website). http://wallstcheatsheet.com/stocks/tesla-low-balls-roadster-...
It says that the batteries have, on average, over 80 percent capacity remaining after 100,000 miles. 80% of the original 265 mile EPA range is still well over 210 miles of range.