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An underinflated mat means you're on the ground. A firm (enough)a mat means you're not. The greater air doesn't make the mat softer, it makes the sensation of the ground under the mat softer.
Answer
An underinflated mat means you're on the ground. A firm (enough)a mat means you're not. The greater air doesn't make the mat softer, it makes the sensation of the ground under the mat softer.