Invest in a Victron BMV-712 battery monitor. You can check your State of Charge (SoC) from your phone.
As others have mentioned try not to go below 50% soc for longer battery life.
This chart is for Flooded Lead Acid (FLA) batteries.
Lithium batteries can go to 0% without damage, however for longer life it is recommended to not go below 10%.
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