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Try a multimode battery charger
They usually have a Battery reconditioning mode which would help revive a "dead" battery
But even the normal charging modes can intelligently kick start the charging cycle - I think its done by pulsing with a higher than normal charging voltage - above 13.7v - like maybe up to 20v
You can buy battery monitors form p;aces like eBay or HobbyKing for under $5 - the simplest ones sound a buzzer if the voltage drops below a certain level - I'd suggest about 10.5v or even just above 11v if you want to be conservative
No battery should be discharged below about 70% of its rated AH capacity of you want longevity !
You could also invest in one of the inline battery monitors or Wattmeters for around $25 - so you can see the voltage, current consumption, total watt/hours consumed . . . etc
So if you get into the habit of checking it you are less likely to forget or maltreat your battery
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