I have changed a rear caliper and forgot to clamp the flexibility pipe so bled the all the brakes. There is a good pedal until I start the car and the pedal goes to the floor.

Any ideas how to cure this?

You have to bleed the master cylinder first.

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Can I do this manually the same as the calipers or do I need a pressure bleeder?

Usually the same way but is much easier with a vacuum bleeder.

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I'll give that a try shortly, need half hour head space. Thanks for the advice.

Yep, definitely use a vacuum bleeder.