It is fairly easy to check if your tank is getting near its undigestibles capacity if you understand what is going on inside. As has already been well pointed out there are three basic layers; the sediments that settle to the bottom, the "living" liquid effluent in the center where all the good organic things happen, and the floating scum layer on top.
The settled solids will gradually build up over time, but they really don't usually cause any problem for a long, long time. They're settled and tend to stay put and not migrate into the field.
The scum layer (fats, soaps, and anything else the bacteria in the effluent can't digest) does tend to build up over time. Eventually it will build down into the tank far enough to flow under the baffles and into the field. The bottom of the baffles has to extend down at least 40% of the distance between the outbound invert (bottom of the exit pipe) and the floor of the tank. Since the outlet pipe is down a foot or so from the very top of the tank you will need to know how either far from the diagragm you kept (right???), or more likely by probing for the pipe and getting a close guesstamate. Note this measurement.
Finding the bottom of the scum layer is easy. First make yourself probe by taking an eight+ foot piece of strapping and cut off about a 8" piece and nail it to one end like a T. Gently push the T down through the scum layer and continue on until you feel the muck at the bottom. If that isn't too solid you should be able to push down through that too until you feel the concrete floor. Note this measurement too, for the difference between it and the one you noted before (the outlet invert) is the working depth of your tank. You are trying to be sure that the bottom of the scum layer doesn't extend beyond 40% of this total distance. Also note how much muck you pushed through if you can for that is your settled sediments. Now begin to pull the T slowly back out and once it is again in the liquid area, rotate it 90 degrees. Continue to draw it up until you feel resistance, that is the bottom of your scum layer. As long as you aren't approaching 40% of the distance from the outlet invert and the bottom of the tank, you're safe. Personally, once the scum layer approaches 25% or so, I'd be thinking about getting it pumped. Maintenance is always easier than repair. Oh, and another point, you want some disposable rubber gloves and the wind at your back when you do this...