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A lot of the new boards have an LED on them that will turn off once this charge has dissipated. As for testing, waiting two minutes is a good rule of thumb (the average is about 10 seconds, but two minutes will give you plenty of safeway, and time to get a drink).
I'm sure there are circuits you could test on the board with a meter, but it would take you about two minutes to pull out the multimeter and test the circuit, so you could just wait (and I don't know which circuits you could test). The charge should dissipate with just the unplugging of or switching off the power supply. I switch it off to keep the ground connected.
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