diff --git a/main/gen_gdl90.go b/main/gen_gdl90.go
index c23e6f1d..ae2ccf13 100644
--- a/main/gen_gdl90.go
+++ b/main/gen_gdl90.go
@@ -903,7 +903,7 @@ func updateMessageStats() {
 
 func updateStatus() {
 	if mySituation.GPSFixQuality == 2 {
-		globalStatus.GPS_solution = "GPS + SBAS (WAAS)"
+		globalStatus.GPS_solution = "GPS + SBAS (WAAS / EGNOS)"
 	} else if mySituation.GPSFixQuality == 1 {
 		globalStatus.GPS_solution = "3D GPS"
 	} else if mySituation.GPSFixQuality == 6 {
diff --git a/main/gps.go b/main/gps.go
index df6afbe1..3f3d895a 100755
--- a/main/gps.go
+++ b/main/gps.go
@@ -263,32 +263,9 @@ func initGPSSerial() bool {
 			log.Printf("Finished writing SiRF GPS config to %s. Opening port to test connection.\n", device)
 		}
 	} else {
+
 		// Byte order for UBX configuration is little endian.
 
-		/*
-		Set navigation settings.
-		nav := make([]byte, 36)
-		nav[0] = 0x05 // Set dyn and fixMode only.
-		nav[1] = 0x00
-		dyn.
-		nav[2] = 0x07 // "Airborne with >2g Acceleration".
-		nav[3] = 0x02 // 3D only.
-
-		p.Write(makeUBXCFG(0x06, 0x24, 36, nav))
-
-		// Turn off "time pulse" (usually drives an LED).
-		tp5 := make([]byte, 32)
-		tp5[4] = 0x32
-		tp5[8] = 0x40
-		tp5[9] = 0x42
-		tp5[10] = 0x0F
-		tp5[12] = 0x40
-		tp5[13] = 0x42
-		tp5[14] = 0x0F
-		tp5[28] = 0xE7
-		p.Write(makeUBXCFG(0x06, 0x31, 32, tp5))
-		*/
-
 		// GNSS configuration CFG-GNSS for ublox 7 and higher, p. 125 (v8)
 
 		// Notes: ublox8 is multi-GNSS capable (simultaneous decoding of GPS and GLONASS, or
@@ -302,18 +279,26 @@ func initGPSSerial() bool {
 		p.Write(makeUBXCFG(0x06, 0x09, 13, []byte{0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x17}))
 		time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port
 
-		if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX9) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
+		// UBX-CFG-NMEA (change NMEA protocol version to 4.1)
+		p.Write(makeUBXCFG(0x06, 0x17, 20, []byte{0x00, 0x41, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}))
+
+		if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 {
 			if globalSettings.DEBUG {
-				log.Printf("UBX8/9/unknown device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
+				log.Printf("ublox 9 detected\n")
 			}
+			// ublox 9: use default GNSS configuration
+			} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
+				if globalSettings.DEBUG {
+				log.Printf("ublox 8 detected\n")
+			}
+			// ublox 8
 			cfgGnss := []byte{0x00, 0x20, 0x20, 0x06}
-			gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01}  // enable GPS with 8-16 tracking channels
-			sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // disable SBAS
-			// sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS with 2-3 tracking channels
-			beidou := []byte{0x03, 0x04, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables BEIDOU
-			qzss := []byte{0x05, 0x01, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables QZSS
-			glonass := []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GLONASS with 8-14 tracking channels
-			galileo := []byte{0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x01} // enable Galileo with 4-10 tracking channels, ublox 8 does only support up to 10
+			gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01}			// enable GPS with 8-16 tracking channels
+			sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01}		// disable SBAS
+			beidou := []byte{0x03, 0x04, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01}	// disable BEIDOU
+			qzss := []byte{0x05, 0x01, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01}		// disable QZSS
+			glonass := []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01}	// enable GLONASS with 8-14 tracking channels
+			galileo := []byte{0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x01}	// enable Galileo with 4-10 tracking channels, ublox 8 does only support up to 10
 			cfgGnss = append(cfgGnss, gps...)
 			cfgGnss = append(cfgGnss, sbas...)
 			cfgGnss = append(cfgGnss, beidou...)
@@ -322,15 +307,18 @@ func initGPSSerial() bool {
 			cfgGnss = append(cfgGnss, galileo...)
 			p.Write(makeUBXCFG(0x06, 0x3E, uint16(len(cfgGnss)), cfgGnss))
 			p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS off
-			// p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x01, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS on & Auto Mode
-		} else { // ublox 6,7
+			} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX7) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX6) {
+				if globalSettings.DEBUG {
+				log.Printf("ublox 6 or 7 detected\n")
+			}
+			// ublox 6,7
 			cfgGnss := []byte{0x00, 0x20, 0x20, 0x06}
-			gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01}  // enable GPS with 8-16 tracking channels
-			sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS with 2-3 tracking channels
-			beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables BEIDOU
-			qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables QZSS
-			glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS
-			galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables Galileo
+			gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01}			// enable GPS with 8-16 tracking channels
+			sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01}		// enable SBAS with 2-3 tracking channels
+			beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01}	// disable BEIDOU
+			qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01}		// disable QZSS
+			glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01}	// disable GLONASS
+			galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01}	// disable Galileo
 			cfgGnss = append(cfgGnss, gps...)
 			cfgGnss = append(cfgGnss, sbas...)
 			cfgGnss = append(cfgGnss, beidou...)
@@ -353,13 +341,6 @@ func initGPSSerial() bool {
 		// UBX-CFG-NAV5                           |mask1...|  dyn
 		p.Write(makeUBXCFG(0x06, 0x24, 36, []byte{0x01, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Dynamic platform model: airborne with <1g acceleration
 
-		// UBX-CFG-NAVX5                          |version.|  |mask1...|  |mask2...............|  |reserved|  minSV maxSV
-		// p.Write(makeUBXCFG(0x06, 0x23, 40, []byte{0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x48, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // minSVs=3, maxSVs=72
-
-		// UBX-CFG-TP5                             U1    U1   | U1[2]  |  |  I2    |  |  I2    |  |         U4         |  |         U4         |  |         U4         |  |         U4         |  |         I4         |  |         X4         |
-		// p.Write(makeUBXCFG(0x06, 0x31, 32, []byte{0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x00, 0x19, 0x99, 0x99, 0x9A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6F}))
-		// p.Write(makeUBXCFG(0x06, 0x31, 32, []byte{0x01, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x00, 0x19, 0x99, 0x99, 0x9A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6F}))
-
 		// UBX-CFG-MSG (NMEA Standard Messages)  msg   msg   Ports 1-6 (only GGA enabled)
 		//                                       Class ID    DDC   UART1 UART2 USB   I2C   Res
 		p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x00, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // GGA - Global positioning system fix data, enabled every 10th message
@@ -383,10 +364,6 @@ func initGPSSerial() bool {
 		p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // Ublox - Satellite Status, enabled every 10th message
 		p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x04, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // Ublox - Time of Day and Clock Information, enabled every 10th message
 
-		// todo:
-		// p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Ublox - Set NMEA message output rate
-		// p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x41, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Ublox - Set Protocols and Baudrate
-
 		// Reconfigure serial port.
 		cfg := make([]byte, 20)
 		cfg[0] = 0x01 // portID.
@@ -1167,7 +1144,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
 					svStr = fmt.Sprintf("G%d", sv)
 				} else if sv <= 64 {
 					svType = SAT_TYPE_BEIDOU
-					svStr = fmt.Sprintf("B%d", sv) // tbd: conversion
+					svStr = fmt.Sprintf("B%d", sv-32)
 				} else if sv <= 96 {
 					svType = SAT_TYPE_GLONASS
 					svStr = fmt.Sprintf("R%d", sv-64)
@@ -1176,7 +1153,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
 					svStr = fmt.Sprintf("S%d", sv)
 				} else if sv <= 163 {
 					svType = SAT_TYPE_BEIDOU
-					svStr = fmt.Sprintf("B%d", sv) // tbd: conversion
+					svStr = fmt.Sprintf("B%d", sv-126)
 				} else if sv <= 193 {
 					svType = SAT_TYPE_QZSS
 					svStr = fmt.Sprintf("Q%d", sv-192)
diff --git a/main/sensors.go b/main/sensors.go
index 171c226f..0a2aa83a 100644
--- a/main/sensors.go
+++ b/main/sensors.go
@@ -162,8 +162,8 @@ func sensorAttitudeSender() {
 		// Set sensor gyro calibrations
 		if c, d := &globalSettings.C, &globalSettings.D; d[0]*d[0]+d[1]*d[1]+d[2]*d[2] > 0 {
 			s.SetCalibrations(c, d)
-			log.Printf("AHRS Info: IMU Calibrations read from settings: accel %6f %6f %6f; gyro %6f %6f %6f\n",
-				c[0], c[1], c[2], d[0], d[1], d[2])
+			// log.Printf("AHRS Info: IMU Calibrations read from settings: accel %6f %6f %6f; gyro %6f %6f %6f\n",
+			//	c[0], c[1], c[2], d[0], d[1], d[2])
 		} else {
 			// Do an initial calibration
 			select { // Don't block if cal isn't receiving: only need one calibration in the queue at a time.
diff --git a/web/plates/js/status.js b/web/plates/js/status.js
index bd75eb7c..42f934ec 100644
--- a/web/plates/js/status.js
+++ b/web/plates/js/status.js
@@ -85,6 +85,9 @@ function StatusCtrl($rootScope, $scope, $state, $http, $interval) {
 				case 8:
 					tempGpsHardwareString = "USB u-blox 8 GNSS receiver";
 					break;
+				case 9:
+					tempGpsHardwareString = "USB u-blox 9 GNSS receiver";
+					break;
 				default:
 					tempGpsHardwareString = "Not installed";
 			}
@@ -134,7 +137,7 @@ function StatusCtrl($rootScope, $scope, $state, $http, $interval) {
 				/* boardtemp is celcius to tenths */
 				$scope.CPUTemp = String(boardtemp.toFixed(1) + '°C / ' + ((boardtemp * 9 / 5) + 32.0).toFixed(1) + '°F');
 				$scope.CPUTempMin = String(status.CPUTempMin.toFixed(1)) + '°C';
-				$scope.CPUTempMax = String(status.CPUTempMax.toFixed(1)) + '°C';				
+				$scope.CPUTempMax = String(status.CPUTempMax.toFixed(1)) + '°C';
 			} else {
 				// $('#CPUTemp').text('unavailable');
 			}