You don't change mags just because you're fired off a few rounds. Generally, when in contact, you just keep firing until you run dry - otherwise eventually you're going to be putting in half full mags and that's a bad thing. The exception would be if you're going to be clearing a trench or building - that's generally the only time you fire on full auto, and for that you want a full mag.
Usually you rounds on stripper clips and top up your mags when you have the chance.
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