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If you are looking for 96V average, i.e. the controller can work with higher voltages but expects the average voltage to be 96V as the cells discharge, then you need to divide that voltage by 3.6 and not 4.2. The cells reach their average midpoint capacity at about 3.6V (actually 3.63V). 4.2V is the maximum voltage at full capacity. My understanding of motor/controller manufacturers is that 96V means the average voltage and not the maximum voltage.
In this case, you would need 96/3.6 = 26 cells in series. This is commonly written as "26s30p". So there are groups of 30 cells in parallel, and then 26 of these groups in series to make the pack.
With only 23 cells in series, you will be starving the controller half the time, and it may shut down prematurely to save itself. And you may be draining too much current from the battery pack when its voltage drops below 23*3.6 = 83V which may cause the battery pack to shut down or blow a fuse. If the system shuts down at 83V you still have half the battery capacity left, which will be unusable.
In this case, you would need 96/3.6 = 26 cells in series. This is commonly written as "26s30p". So there are groups of 30 cells in parallel, and then 26 of these groups in series to make the pack.
With only 23 cells in series, you will be starving the controller half the time, and it may shut down prematurely to save itself. And you may be draining too much current from the battery pack when its voltage drops below 23*3.6 = 83V which may cause the battery pack to shut down or blow a fuse. If the system shuts down at 83V you still have half the battery capacity left, which will be unusable.