Hi Ed,
Unfortunately, it would appear that your SLA batteries have already been discharged well below the recommended low voltage level.
A 6 cell 12V SLA should not be allowed to discharge below ~10.5V, therefore your 18 cell 36V battery's voltage should not really be allowed any lower than ~31.5V, which is a lot higher than 24V.
If your controller is allowing the battery to be used as low down as 24V
(which I'm guessing was the voltage measured at the battery just after it cut out) I would say that it is probably still set to 24V
(the standard setting) which will allow the battery voltage to fall as low as ~21V under load before the controller would actually cut out.
As your battery does not have its own battery management system
(BMS) you really should have the controller set to 36V to protect the battery from being discharged too low.
Regarding the charging voltage, your 36V charger should have a maximum output voltage of somewhere between 41.5V and 43.5V, and I would normally expect a 36V SLA battery to reach
at least 42V before the end of the charging cycle.
If your charger's maximum output voltage is below 41.5V, it will never be able to fully charge your battery.
If you have access to a 12V SLA Charger, you can try charging one battery at a time and see if the voltage increases to the expected maximum level of between 13.8V and 14.5V per battery.
It might be a good idea to check and record the individual voltages of each of the three batteries, so that you can see if there is any obvious difference between the voltage readings from the three batteries before and after charging.
Alan