Run your battery down until it is completely empty then plug it into the charger. Let the charger sit for an hour to get a partial charge.
Set your voltmeter to a 24 volt setting.
Touch the probes of the voltmeter to the positive and negative ends of the battery, indicated by the plus and minus sign on the battery itself.
Look at the volt reading. The reading should be at the rated volts for the battery (for example 14.4) or slightly above. Two volts above is a healthy battery. If the battery is below the rated voltage the battery is bad and needs replaced.