Ok lets look at the typical 12v car battery.
Its PD is 12V (as we know)
Its Recharge Voltage is 13.8V
The recharge current is usualy a trickel charge of around 2-4 Amps
Whilst its being Charged the Generator/Alternator should be powerful enough to charge the battery and run all required electricl needs, so we get say a 40Amp Generator/Alternator. This as we can see provides us with 40amps to use for running the car.
Now when charging the Volt metre will show 13.8V across the battery and the Amp metre will show the recharge current as stated somewhere between 2-4 Amps. Now as the battery reach's a full charge the Volt metre will still show 13.8V but the Amp metre will slowly start to go down to 0 Amps starting in the last 10% cycle or so. When the Amp metre no longer shows any current moving across the battery its now considered 100% recharged.
Now this is via a trickle recharge system, however most cars also allow a rapid or Boost recharge at the begining to quickly get the battery recharge back to a usable level then taper off to a trickle charge rate so as not to damage the battery. In the rapid/boost stage the recharge current can be as high as 10 Amps.
Now given that your typicl Uboat is NOT the same as a standed car (and the fact that I have worked on many marine electrical systems both big and small), we know that the battery system is a hell of a lot bigger and so is the recharging system. BUT the same basic principles apply. The battery will be considered 100% recharged when the recharge current falls to 0 Amps (or so damn small its not worth noting). There for ergo, all batteries will have reached a 100% recharged state.
Now as to what that state IS compared to the day it was made is another subject.
Is any of this modeled in SH3, NO, so by this very nature it cant be said its realistic, however for the purpose of game play and to get the automatic change over to standed propulsion v's recharge propulsion, the battery Needs to reach 100% recharged. Even tho it may in truth never reach factory specs for recharge, the recharge is still considered completed (100%) when the recharge current is at 0 Amps.
This is something that to my mind is broken on the Type XXI. Yes it may not be at factory specs, but the onboard recharge system is Done, Finished, Over when the recharge current is at 0 amps, we just dont ever get there.
Thats why I adjusted the battery modifier to the Type XXI's battery.