diff --git a/Firmware/RTK_mosaic-T_Firmware/Display.ino b/Firmware/RTK_mosaic-T_Firmware/Display.ino
index 11743c0..997a112 100644
--- a/Firmware/RTK_mosaic-T_Firmware/Display.ino
+++ b/Firmware/RTK_mosaic-T_Firmware/Display.ino
@@ -219,7 +219,7 @@ void displayGNSSFail(uint16_t displayTime)
 
 void displayBadBias(uint16_t displayTime)
 {
-    displayMessage("Bad RxClkBias. Restarting...", displayTime);
+    displayMessage("Bad RxClkBias ---------- Restarting", displayTime);
 }
 
 void displayNoRingBuffer(uint16_t displayTime)
diff --git a/Firmware/RTK_mosaic-T_Firmware/GNSS.ino b/Firmware/RTK_mosaic-T_Firmware/GNSS.ino
index 8812fa4..ccf873b 100644
--- a/Firmware/RTK_mosaic-T_Firmware/GNSS.ino
+++ b/Firmware/RTK_mosaic-T_Firmware/GNSS.ino
@@ -108,15 +108,33 @@ void beginGNSS()
     online.gnss = true;
 }
 
-// Kickstart the GNSS timing system - e.g. to resync on bad bias
-bool setTimingSystem()
+// Kickstart the GNSS - e.g. to resync on bad bias
+bool gnssSoftReset()
 {
     if (!online.gnss)
         return false;
 
     int retries = 3; // GNSS is already begun. We shouldn't need to retry.
 
-    while (!sendWithResponse("sts,auto\n\r", "TimingSystem") && (retries > 0)) // Set timing system to auto
+    while (!sendWithResponse("erst,Soft,PVTData\n\r", "ResetReceiver") && (retries > 0)) // Soft reset - erase PVT data
+    {
+        systemPrintln("No response from mosaic. Retrying - with escape sequence...");
+        sendWithResponse("SSSSSSSSSSSSSSSSSSSS\n\r", "COM4>"); // Send escape sequence
+        retries--;
+    }
+
+    return (retries > 0);
+}
+
+// Revert to boot configuration
+bool gnssHardReset()
+{
+    if (!online.gnss)
+        return false;
+
+    int retries = 3; // GNSS is already begun. We shouldn't need to retry.
+
+    while (!sendWithResponse("erst,Hard\n\r", "ResetReceiver") && (retries > 0)) // Hard reset - revert to boot configuration
     {
         systemPrintln("No response from mosaic. Retrying - with escape sequence...");
         sendWithResponse("SSSSSSSSSSSSSSSSSSSS\n\r", "COM4>"); // Send escape sequence
diff --git a/Firmware/RTK_mosaic-T_Firmware/States.ino b/Firmware/RTK_mosaic-T_Firmware/States.ino
index 856b97d..1eddaff 100644
--- a/Firmware/RTK_mosaic-T_Firmware/States.ino
+++ b/Firmware/RTK_mosaic-T_Firmware/States.ino
@@ -122,8 +122,8 @@ void updateSystemState()
                     {
                         clkBiasLimitCount = 0; // Reset the counts before changing state
                         badBiasCount = 0;
-                        displayBadBias(1000);
-                        setTimingSystem(); // Kickstart the timing system
+                        displayBadBias(2000);
+                        gnssSoftReset(); // Kickstart the timing system
                         changeState(STATE_GNSS_CONFIGURED);
                     }
                 }
diff --git a/Firmware/RTK_mosaic-T_Firmware/menuMain.ino b/Firmware/RTK_mosaic-T_Firmware/menuMain.ino
index f884b6f..00c831c 100644
--- a/Firmware/RTK_mosaic-T_Firmware/menuMain.ino
+++ b/Firmware/RTK_mosaic-T_Firmware/menuMain.ino
@@ -102,6 +102,8 @@ void factoryReset(bool alreadyHasSemaphore)
 {
     displaySytemReset(); // Display friendly message on OLED
 
+    gnssHardReset(); // Probably redundant as initializeGNSS() will be called on restart
+
     tasksStopUART1();
 
     systemPrintln("Formatting internal file system...");
diff --git a/Firmware/RTK_mosaic-T_Firmware/menuSystem.ino b/Firmware/RTK_mosaic-T_Firmware/menuSystem.ino
index 3534aa6..a3e1c03 100644
--- a/Firmware/RTK_mosaic-T_Firmware/menuSystem.ino
+++ b/Firmware/RTK_mosaic-T_Firmware/menuSystem.ino
@@ -335,6 +335,8 @@ void menuDebugSoftware()
         {
             recordSystemSettings();
 
+            gnssHardReset();
+
             ESP.restart();
         }
         else if (incoming == 'x')