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Even a soft inflatable will provide buoyancy, but in order to perform well, the tubes should be quite hard (about 3-4 PSI*). A soft boat will bend and flex and will absorb much of the energy from the motor or make rowing very difficult. You will notice that the temperature of the air and water will have a major effect on a boat's air tubes-consider a boat on deck in bright summer sun being put into cold seawater; these boats will often need pumping up after a short time. You will also want to leave a little air out if your boat is going to get hot to allow for expansion.
*follow your manufacturer's reccomendations.
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