[GeeTwo]

I haven't thought this through in detail, but perhaps if the scouts monitor the pressure level before and following a dump, you can at least get an estimate. Of course, if somebody is feeding the high-efficiency boiler at the same time, this will cause significant uncertainty.

At a deeper level: It is difficult to see how the low efficiency boiler is going to matter in any significant way, unless a high boiler scorer is just a bit slower than needed to reach 40 kPa (and even then, it would be better to feed the high goal shooter somehow). (Assuming just the original 10 of 1 robot in auto), in order to get 40 kPa, you would need to put about 330 fuel into the low goal in 105-135 sec, which means about 3 per second if you want to climb the rope. As the low efficiency boiler only has a capacity of about 50-60 fuel, and processes it at a maximum rate of 5 per second, this means that you make about six deliveries of 60 fuel about 20 seconds apart from each other. Honestly, that's way more impressive than a robot that can deliver three deliveries of 50 fuel into the high efficiency boiler every 45 seconds.