If you have the service manual for your engine, it likely includes a couple of important graphs...RPM vs HP or KW and RPM vs fuel burn (probably in grams or liters, but you can do the conversion to gallons if you think in the archaic British system). Using these two graphs and knowledge of your boat's performance (boat speed under benign conditions w/o current effects) vs RPM, you can determine the most efficient operating point for your engine. The effects of alternator loading needs to be included (do your test with minimal electrical loads, including a charged battery, especially if you have a high capacity alternator).
That point will likely be around 50 percent of rated power if your engine is properly sized for your boat, yielding about 70 percent of hull speed. When you know that point, you can use it as an input into your decisions on engine/fuel use.
You can do a similar exercise for using the engine for bulk charging the batteries periodically on a long voyage to estimate the fuel needed for battery charging if wind/solar are neither sufficient or available.