You can check a few things to see how it's charging, but the bottom line is when the battery no longer has enough reserve to meet your needs is when it is bad.
The most common "failure" mode of a deep-cycle battery is that it doesn't last long enough for what you need it to do. After the first few charge/discharge cycles, the battery gets smaller every cycle, but my battery needs and yours may be so different that there's no test or number to tell you whether a battery is good or not. Someone who frequently boondocks may call a battery bad 2 or 3 years before someone who camps with full hookups every night would replace the same battery.