A 3% would do it. The slow component of VO2 is larger in incline running, so you would be working harder and harder as you go, using more and more O2 with just a steady pace. You could also use METS or calories as a guide, but again this is a bit off, since it assumes steady state, and similar VO2 kinetics during flat and incline efforts.
The feeling compared to land is nothing the same really. Incline running favors a ST type strength runner lacking speed. Oxygen cost is going to be higher, perhaps w/ less effort for the same METS simply because VO2peak is often higher on an incline due to the additional muscle mass involved. Matching it up on VO2 cost alone is simplistic, but even with RPE there are nuances you'll understand 2' into the workout.
RPE is still the easiest option. A tough 24' hill run is still a worthwhile workout and good prep for flat tempo training, simply because the concentration it will demand.