In the long run, investing in a quality multimeter like Fluke is your best bet, but before spending a lot of money I would try this for less than $4, test leads and a free Harbor Freight meter.
I have a variety of meters and the HF ones are "close enough" (within a few %).
A good charged 12v battery should measure about 12.6 to 12.7V.
Meter still across battery while cranking up to about 15 seconds you should measure no less than 9.5V.
Verify this by making these tests on another vehicle that's okay.
Now...if "The battery gauge was in the red at 9 volts and dropped lower when the glow plugs came on." using the meter across battery agrees with dash voltmeter, less than 9 volts while cranking, you either have excessive current draw or bad battery. Easiest test here is simply swap in a known good battery.
Now...clip leads are useful in that you can clip from starter battery terminal to starter case ground, other end out to voltmeter where you can read it. (Two important points here 1. With wire you can make long leads several feet long, small gauge is fine...you're just measuring voltage and 2. Be 100% sure + lead cannot touch ground!).
Voltage across battery, voltage across starter should be close to equal...while cranking if over .5V less you have a bad cable.
All connections, battery, starter, engine ground,etc. has to be clean and tight. Any resistance here creates a voltage drop under load.
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