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 F84.0
  • Mild Intellectual disability F70
  • Moderate Intellectual disability F71
  • Dementia F03
  • Alzheimer's G30.9

Wandering codes:

  • V40.31
  • Z91.83

Other Codes to use for AngelSense device/system:

  • X5012 Personal Emergency Response System (HIPAA Compliant)
  • S5160, S5161, S5162 Personal Emergency Response System (CPT/HCPC)
  • 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
  • Children's Long-Term Support (CLTS) Waiver 
  • Children's Community Options Program (CCOP) 
  • HCBS Children With Autism Waiver
  • Children’s Developmental Disabilities Waiver
  • Durable Medical Equipment (DME)
  • Intellectual Disability Waiver (ID) 
  • MO MO.0841 Partnership for Hope

Check the document at the bottom of this page for Waiver Number & Waiver Name in your State.

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

Related Articles:

Agency & Medicaid Waiver Procedure


  1. Sample Doctor Letter with Wandering Code.docx
  1. Product Description.pdf
  1. Medicaid Waiver Names by State.pdf