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This first version was k=min(50, num data points / 5) of the last 1000 data points, all weighted equally (no chronological weighting, still divide by inverse distance). I still have a fair bit of tweaking to do, so hoping to squeeze another .1 or so out of it. But with my luck my first guess will be impossible to optimize further. =) This was an improvement of like 0.3 in my 500-bot test bed, but of course that's quickly halved with all the 99% bots that I don't test against.

Of course, I was thinking 1000 was about 1 round of data, when it's actually ~20 because it's not using virtual waves. Doh! Guess I'll try dialing that down a lot. =)