http://www.truecar.com/prices-new/hy...2011/5ABDDE17/
Go to your bank first to get approved for an auto loan so you have it in your back pocket in case you don't want to use the auto dealer's financing.
When you start negotiation in his office, don't let him talk to you about "how much you want to pay a month" - that's sucker talk. Tell him you'll worry about financing later, and you just want to establish the purchase price. Tell him you'll buy it right now if he can do it for $19,500 (plus tax, title, etc.). He'll blanche and probably go talk to his manager, and come back with something around $20,800. Write your phone number down and tell him if he can do it for $20,200 to give you a call.
Then leave. He'll call.
Hope that helps.