Check the fluid level in the batteries. If they're quite low on water they won't take a charge. Also feel the sides of the cases to be sure they're not oveheating thus off-gassing. This would be the result of an internal short most likely. There is nothing about discharging them 70% that SHOULD cause them to fail completely though it's never a good idea to do this often. A good set of 6 volt batteries should easily recover from even a deep discharge. The REASON they were discharged when you picked up the RV was that it was likely not connected to 120 volt AC power while at the dealers. I've never had a dealer hook mine up while they have the trailer. I just disconnect the negative lead when I drop it off, put a note on the door telling them that the batteries are isolated and they hook them up if/when they need to. Otherwise they are returned nearly fully charged.