All Lead-Acid batteries supply about 2.14 volts per cell (12.6 to 12.8 for a 12 volt battery) when fully charged. Batteries that are stored for long periods will eventually lose all their charge. This "leakage" or self discharge varies considerably with battery type, age, & temperature. It can range from about 1% to 15% per month. Generally, new AGM batteries have the lowest, and old industrial (Lead-Antimony plates) are the highest. In systems that are continually connected to some type charging source, whether it is solar, wind, or an AC powered charger this is seldom a problem. However, one of the biggest killers of batteries is sitting stored in a partly discharged state for a few months. A "float" trickle charge should be maintained on the batteries even if they are not used (or, especially if they are not used). Even most "dry charged" batteries (those sold without electrolyte so they can be shipped more easily, with acid added later) will deteriorate over time. Max storage life on those is about 18 to 30 months.
Batteries self-discharge faster at higher temperatures. Lifespan can also be seriously reduced at higher temperatures - most manufacturers state this as a 50% loss in life for every 15 degrees F over a 77 degree cell temperature. Lifespan is increased at the same rate if below 77 degrees, but capacity is reduced. This tends to even out in most systems - they will spend part of their life at higher temperatures, and part at lower. Typical self discharge rates for flooded are 5% to 15% per month.
State of charge, or conversely, the depth of discharge (DOD) can be determined by measuring the voltage and/or the specific gravity of the acid with a hydrometer. This will NOT tell you how good (capacity in AH) the battery condition is - only a sustained load test can do that. Voltage on a fully charged battery will read 2.12 to 2.15 volts per cell, or 12.7 volts for a 12 volt battery. At 50% the reading will be 2.03 VPC (Volts Per Cell), and at 0% will be 1.75 VPC or less. Specific gravity will be about 1.265 for a fully charged cell, and 1.13 or less for a totally discharged cell. This can vary with battery types and brands somewhat - when you buy new batteries you should charge them up and let them sit for a while, then take a reference measurement. Many batteries are sealed, and hydrometer reading cannot be taken, so you must rely on voltage. Hydrometer readings may not tell the whole story, as it takes a while for the acid to get mixed up in wet cells. If measured right after charging, you might see 1.27 at the top of the cell, even though it is much less at the bottom. This does not apply to gelled or AGM batteries.