At what altitude does soaring actually commence?

According to the Soaring Society of America, soaring is above 18,000 feet. It is at these altitudes that atmospheric pressure is about half that of sea level. If I understand the premise, this means you don't have all that pressure pushing you downward where you need engines to keep pushing against that pressure.

This results in that "lighter than air" feeling and allows you to soar. Makes you wonder how birds (hawks, etc) can soar under 18,000 feet though. That could possible be due to their bone structure.

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