Depending on the water you boat in (salt, fresh, brackish) will determine how often you should remove the end caps. Many will say remove them yearly during winterization to inspect and clean out any debris that happens to be there. Each time the caps are remove a new gasket should be used, but also determines how often they are removed.
Some just wait until they notice the engine running warmer then normal and then inspect. Replace the antifreeze as VP states
Most exchangers also have a zinc or aluminum anode in them which needs to be replaced around the same time as the ones on your drive.