Key points are not available for this paper at this time.
The RAFOS float is a small neutrally buoyant subsurface order, which, like its big brother the SOFAR float, uses the deep sound (or SOFAR) channel to determine its position as a function of time. Whereas the SOFAR float transmits to moored receivers, the ∼12 kg glass pipe RAFOS float listens for accurately timed signals from moored sound sources to determine its position. The acoustic signal detection and norm of data are all handled by a CMOS microprocessor in the float. The data are recovered at the end of its mission when the float surface and telemeters its memory contents to Systeme Argos, a satellite-borne platform location and data collection system. Just a few sound sources provide navigation for an arbitrary number of floats.
Rossby et al. (1986) studied this question.