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That's not necessarily true. It's supposed to be, if you soak a seed for over 24 hours and it still floats, it won't germinate, but even that isn't true. I currently have 7 germinated citrus seeds that still floated after a 24 hour soak, and have had the same experience in the past. The way I do it is I peel off the soft coating around the seed (Fingernails work fine for this), soak for 24 hours, then move on to the paper towel/baggie method.
I do the same thing, it makes a big difference.