Anytime a battery drops below 10 volts, whether under a load or resting, damage is occurring.
Also, the post about equalizing the batteries was spot on. To get optimum life, the 6 cells must be as similar as possible, so a mild overcharge, ie 14.8 or so, is a good thing. The best way if you have the time is to charge at 5 amps or so until the voltage stops rising. Then you know that all 6 cells are as charged as they can be. A charge much higher than 15 v can hurt them as well. HTH, Ben