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As for the numbers not being exact, could either be a bug or an optimization. Don't really need super mega accurate numbers to simulate the hydrogen usage.
H2 thrusters, like the electric-powered versions, scale in performance when not fully supplied with gas.
Look in :
<installation path>\Steam\steamapps\common\SpaceEngineers\Content\Data\CubeBlocks
at file :
CubeBlocks_Logistics.sbc
and you will see the precise specification of the gas tanks...
and in file :
CubeBlocks_Thrusters.sbc
the specification of the thrusters.
But.. the format and units used are not always clear, consistent or sane, because, Keen. ^.^
In terms of consumption, the tank doesn't factor into it. The thrusters have no idea what they're attached to - just how much gas they're able to access on a given tick. This is why they can operate off one or more tanks or straight off one or more generators. The only variables which play in are how much thrust you've got them set to use (in this case, 100%), the MaxPowerConsumption property in their SBC file, and the EnergyDensity in the GasProperties.sbc file.
To that end, the Hydrogen will always have an energy density of 0.001556 per unit (officially the measurement is MWh/litre). The Small Grid, Large Hydrogen Thruster has a MaxPowerConsumption of 0.6 (officially in MW). Due to a fault in Keen's logic, the gas is consumed as if it were measured in joules rather than watt-hours, so the per-second consumption is 0.6 / 0.001556, or ~385.6 units per second.
The Small Grid Hydrogen Tank has a capacity of 160,000, while the Small Grid, Small Hydrogen Tank has a capacity of 7,000. This leads to a full burn time with the same thruster of approximately 415 seconds (6:55 minutes) and 18.2 seconds respectively. Given the closeness of 18.2 to 20 even, I'd suspect your mismatch is simply due to inaccuracy with the stopwatch.
This is untrue. Tanks have an unlimited flow rate, both in and out. Even the generators have an infinite flow rate, though in practice that doesn't matter since they only produce a finite amount over time.