Iffy clutch

[landopanda]

The other day when i started my car the clutch was very low and there was very little bite in the pedal, as in you push down and its really soft until just before it hits the floor, sort of feels 'saggy' best way to describe it. After about 5 mins driving the pressure is back and its normal again.
Is this something to do with one of the hydraulic cylinders?
Its a Stnd Clutch on an S3