Roll data can be acquired from a magnetometer and an accelerometer of a towed object telemetry unit coupled to a towed object during rolls of the towed object in two or more different headings. The magnetometer can be calibrated based on the roll data. Turn data can be acquired from the magnetometer and the accelerometer during a turn of the towed object from a first heading to a second heading. The magnetometer can be further calibrated based on the turn data.