Well its appears to be a fairly straight forward linear progression.
For a Minor skill advanceing from 5 to 6 takes 6 points. 6 to 7 takes 7 points. etc. (these are internal, the interface expresses these as a percentage: 0-100). This is not taking into account other modifiers (Specialization, in-game factors, etc.)
So if you have acrobatics as a minor skill and want to advance 5->6 just jump (6/0.15*1.0)=40 times. (0.15 is the points you get every time you jump).
If this was a misc skill: (6/0.15*1.25)=50 times.
It would take twice as many jumps to get to say 19->20 as 9->10
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