setting the command
sudo hciconfig hci0 auth 
before connecting helps me to prevent disappearing the pin dialog.
I have find this method here:
https://bugs.launchpad.net/fedora/+source/bluez-gnome/+bug/284994/comments/90

1) First operations is finding the GPS device address with this command:

hcitool scan
Scanning ...

 00:13:F1:01:40:AE BT-GPS 0140AE

 00:18:8D:11:5F:F3 Zinux6680

Record the BT-GPS address, this is used later.

2) Enable the authentication on the pc blue-tooth dongle.

sudo hciconfig hci0 auth

3)Create a connection with the device
sudo hcitool cc 00:13:F1:01:40:AE

Now a popup menu request the pin for the device, insert it.

-- 
Pairing: passcode dialogue disappears in <1 second
https://bugs.launchpad.net/bugs/241000
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