Around 21V. Some batteries give voltage sag. that means that the voltage goes down a few volts when you draw high power, so the cut off could occur when the battery is at 24v. Also, batteries recover a bit after they've cut off, so if you measured the battery when you got home after it cut off during a ride, you could see even higher.
The more knackered a battery is, the more the voltage sags under power.