The only way to really know is to keep records.
I have kept a log of all gas purchases and post them to a spread sheet. Then you can watch the numbers to find out.
In my experience, as I loged the usage in my '91 Civic, early on I learned that I could get heat within minutes. However, the gas logs quickly showed a marked decrease in winter. Now there's more factors than just the heater, but I found that the idle would stay several hundred RPM's higher for much longer when I turned on the heat right away. Makes sense, I was taking the heat the engine needed to warm up. So it took much longer to get warmed up and reduce the idle.
The answer was to wait until normal operating temp was reached, then go ahead and use as much heat as you want.
Now this was on a 4 cyl Civic, the Ody is a bigger engine and heats up even faster. I still apply the same principle, let the engine warm up, then turn on the heat.