You can use the Hidden OBC Menu,
http://www.scoopz.com/m5board/E60_Hi...structions.pdf
Proper charging Voltage is typically between 13.5-14.5 Volts.
Also you can use a Voltmeter as well, but best to leave this on the vehicle for a long time.
Something like this may also be helpful -
http://www.amazon.com/Temperature-Mu...arette+lighter