Inaudible is another way of saying "hushed" or "silent." If you thought the bad words you muttered under your breath were inaudible, perhaps you should've turned off that microphone in front of you!
In Latin, audire means “to hear,” so it makes sense, then, that inaudible means “imperceptible by the ear,” since in- means “not.” You should strive to speak in a near-inaudible whisper if you need to talk to your seatmate at the opera, but in normal, everyday conversation, you won’t get your point across unless you talk at a louder volume. Synonyms for inaudible range from faint and muffled to uncommunicative and voiceless.