Anytime you battery drops below 12v you damaging the battery. If this is the original battery it is over 5 years old and probably lead acid. Even when you sit in storage your batteries drain. You could check the water in the sells, but more than likely you will need new batteries. Most RV manufacturers install a cheap battery charger. They put out a constant 13.v even when the batteries are charged this is not good for your batteries. I would suggest you look into a 3 stage Progressive Dynamics smart charger that is an easy swap with you current charger. Your new batteries will charge faster and last longer.
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