Under load is the way to go
We bought the boat in 1992, and when it was time for the 1st service, I got the local Yanmar mechanic to work on it, and I video taped everything, including having him explain to me all the details on this specific Yanmar model, and showed me how to do some of the other less frequently needed maintenance tasks. He was paid by the hour, so that was money well spent.When you need to idle the engine for an extended period, you should do it at around 1200-1500 rpm.As for the need to charge the batteries every 2 hours, then you need more batteries. Do you have the factory installed single group 24, or did you add more. The #24 is fine as a engine starter battery, but if you need to have battery power while anchored, go with a couple of group 27s for a separate house bank, or at least 2 group 24s in a separate house bank. To do it right, you will need more, but 2 group 27s or 24s should be ok. You can charge them maybe twice a day. Even though the battery's top cover says deep cycle, you still shouldn't run it down real low. That will kill them.If you are running a fridge with the batteries, then it is going to go down real fast, and also, fridge under battery power doesn't get really that cold anyway. Ice cubes will melt. You need to run the fridge with your engine going.