The battery autonomy that you observe is essentially normal and as expected. Apple's quoted battery autonomy is always quoted as "up to" - and this being in controlled conditions.
Many factors will impact how quickly your battery will drain. Differences in installed Apps and device configuration, individual usage patterns, temperature, screen brightness, and App usage will all influence your unique situation. Don't forget, when idle, background and housekeeping tasks are still running - such as file system optimisation and periodic mail retrieval.
While it is impossible to provide a definitive answer, you might reasonably anticipate your iPad depleting its battery at between 8-15% of its battery charge per hour of active use, CPU/GPU-intensive Apps consuming more battery charge. While idle (with the screen off), an average might be ~10% per day.
Speaking of personal experience of iPads used throughout the day, mainly for Mail and web-browser activities with ~30% screen brightness, I comfortably see around 6-7 hours of usage running on battery power alone - this performance being largely aligned with your own observations.
When at my desk, the iPad is routinely connected to external power, such that the iPad is charging while being used; away from desk, the iPad is running on battery alone.
In summary, your iPad and its battery appear to be operating as expected.