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Personally, I'd recommend one never, ever disconnect the batteries on an engine that is running. The surge created can damage the regulator, and other devices connected to the battery line.

I'm with Carl on this, the voltage, with charged batteries, should be about 27 volts. At 24 volts, the batteries would never fully charge, so I'd suggest just tossing on a battery charger and letting 'em charge up then test the voltage again. You can charge each battery independently with a...