For a fairly accurate capacity test Divide the battery's rated amp hours by 20.
Apply that number of amps to the battery for 10 hours, and remove load, and wait for voltage to rebound. If it is in the 12.2v range ~2 hours later, the battery is likely still near its original rated capacity.
You can guestimate health by applying any somewhat significant load to it and just seeing how much the voltage drops in that load. If voltage tanks quickly to 12.2v or less, the battery is not very healthy, but it of course depends on the size of load the battery is trying to power.
A healthy and fully charged 100 AH battery can power a 5 amp load for 20 hours at 77f degrees before voltage drops to 10.5v, which is considered 100% discharged