[gr8fl4porsche]

I have been sleeping on a Select Comfort for 8 years or so. Very pleased. My children now have them as well.
You can get into their basic model for about the price of a similar conventional mattress.

Where they get you is in the foundation (plastic box) and the pillow top options.
The thicker the pillow top the pricier the mattress. You can use a cheap springless foundation in lieu of their expensive box (which is very nice, just not necessary). You don't need all the digital remotes either since it is basically set and forget.