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Well, the easy way is to charge it at the float voltage (6.75V for a 6V battery) for at least 10 hours, or until you remember to finish the test. Then, take the charger off it, and put a load of 0.1A to 1A, depending on what large (10W min for 1A load) resistors you have. Measure the voltage, and the time it takes to discharge enough to be visible on page 2 of Dans' reference. As the battery ages, it will get down the curve faster and faster. So, does your time match the curve in the diagram?

You can also draw a much larger current for just a few seconds, but drawing the proper conclusion is trickier.
 
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