Welcome to the AngelSense Support Center

Insurance Codes and Medicaid Waiver Codes

Inquire with your insurance company about whether they cover some or all of the cost. Prepare the following information when submitting a request to insurance companies:


You can also speak to your family doctor about getting a diagnosis for wandering. We have a *letter your doctor can personalize attached below; this may help you with the insurance company requirements.

Ask your doctor to include "AngelSense GPS for Wandering Prevention" 

Codes to personalize for your diagnosis: 

  • Autism or Pervasive Developmental Disorder (299.0-299.9) 
  • Intellectual disabilities (317-319)
  • Dementia (294.21)
  • Alzheimer's (331.0)

Wandering codes:

  • V40.31
  • Z91.83

Other Codes to use in case the above are not accepted by your specific insurance company:

  • X5012 Personal Emergency Response System (HIPAA Compliant)
  • X5014 DME – Personal Emergency Response System
  • S5160, S5161, S5162 Personal Emergency Response System (CPT/HCPC)
  • S5199 Enhanced Medical Assistive Technology 
  • S5160K, S5161HK Health & Safety Welfare
  • E1399 Durable Medical Equipment & Other
  • F84.0 Augmentative Devices (GPS tracking device) due to Autism wandering in diseases classified elsewhere Z91.83

Medicaid Waivers that have been used to cover AngelSense:

  • Home and Community-Based Services for the Developmentally Disabled (HCBS-DD) Waiver
  • Durable Medical Equipment (DME)
  • Intellectual Disability Waiver (ID) 

*Most waivers will be issued to cover the AngelSense starter kit + 1 full year of service


  1. Sample Doctor Letter with Wandering Code.docx
  1. Product Description.pdf