Since you're measuring at the electric panel, the voltage drop is not just from the battery itself, but potentially also partly from wiring between it and the panel. I would suggest comparing the voltage (under load) at the load center and at the battery terminals themselves. You may well have a cruddy connection somewhere--possibly a ground connection.
It does sound as though the battery is not entirely up to snuff, though; about 30 AH and it's discharged down a fair bit more than one would expect. Still, it should get you through a mild night, I think.