PSA grading

I am new to card grading, I apologize for my ignorance. I was looking to send 20 cards in to psa for grading. I am kind of unclear about there fee structure. Do I first need to setup a membership for $99 which includes 6 gradings. I would then have to send the remainder of the cards in under the summer special? Is the way to avoid the $99 membership fee, or is there a cheaper alternative to getting 20 cards graded by PSA?
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