They will learn after the first trip. Your first one should only be at the most 2 miles into the camp. You won't believe how wimpy these kids are until you get started.
If you have fun things to do at the camp, like a good game of capture the flag, the kids should forget preety quickly about the death march you just made them participate in.
If it is a good experience they will want to better prepared the next time around. Hopefully by then they can get a backpack to carry that 10 lb sleeping bag that is rated to 60 degrees.
I don't envy you.
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