NOT_NEAR_DOCK
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Applicable alarms (1)
NOT_NEAR_DOCK
Likely outcomes — click to expand
Based on 791,905 missions where this alarm fired in the last 90 days as of 2026-10-13
Grounding vs discrepancy (of 6,760 ZERP issues filed on these missions)
Top work orders
- EV2: Inspect Aircraft after Droid Left Behind (DLB) · MAINTENANCE_ACTION 536
- Inspect Droid after Droid Left Behind (DLB) · MAINTENANCE_ACTION 341
- EV2/EV3 Diagnostics Test Without Motors · INSPECTION 300
- Reset Droid after DLB · REPAIR 252
- EV3: Inspect Aircraft after Droid Left Behind (DLB) · MAINTENANCE_ACTION 232
Frequently replaced parts
| Part | P/N | Removals |
|---|---|---|
| SERVO, ASSY, UNIVERSAL, P2 | 20398 | 1,749 |
| CCW HOVER MOTOR ASSY, ZIP, P2 | 19607 | 1,448 |
| TAIL ASSY STBRD(RH), GNSS, ZIP, P2 | 21840 | 1,129 |
| TAIL PORT DEPOP, ZIP, P2 | 31280 | 1,074 |
| AFT MOTOR ASSY, PRE-EV2, ZIP, P2 | 23548 | 871 |
Aggregated from fleet operations and refreshed daily. Individual outcomes may vary by site and configuration.
Background
Section titled “Background”This alarm indicates the aircraft’s self-assessed position or orientation is either:
- Not correct, based on the dock’s surveyed position, or
- Is unable to be verified as being aligned with the expected location.
In that sense this alarm can be thought of as the aircraft reporting “I’m not sure that I’m in the right place.” There are three classes of failure which lead to this condition:
- The GNSS receivers are unable to reach RTK-fixed: the receivers must reach this level of accuracy prior to takeoff to ensure safe vehicle operations.
- One of the receivers has an incorrect RTK fix. In this case the estimated navigation state of the vehicle may be wrong, and needs to be corrected before operations can resume.
- The dock survey is incorrect, or the dock has moved significantly since the survey last occurred.
This alarm will block takeoff. It should not occur during flight, although even if it did, it has no in-flight fault response.
Troubleshooting Steps
Section titled “Troubleshooting Steps”graph TD
sleep-and-try-again["<small><b>Step 1</b></small><br/>Action: Allow the vehicle to return to sleep...."]
power-cycle["<small><b>Step 2</b></small><br/>Action: Follow the procedure to Power Cycle ..."]
check-not-near-dock-troubleshooting-template["<small><b>Step 3</b></small><br/>Telemetry: Use the not-near-dock-troubleshootin..."]
are-any-template-checks-true{"<small><b>Step 4</b></small><br/>Question: Are any of the not-near-dock-trouble..."}
check-human-interventions{"<small><b>Step 5</b></small><br/>Question: Check for human interventions. Has an..."}
check-tower-fully-raised{"<small><b>Step 6</b></small><br/>Question: Check that the tower is fully raised ..."}
retry-preflight-after-tower-check["<small><b>Step 7</b></small><br/>Action: Send a new preflight mission. Did the..."]
check-tower-retry-troubleshooting-template["<small><b>Step 8</b></small><br/>Telemetry: Use the not-near-dock-troubleshootin..."]
are-tower-retry-template-checks-true{"<small><b>Step 9</b></small><br/>Question: Are any of the not-near-dock-trouble..."}
check-pitch-roll-after-tower-raised{"<small><b>Step 10</b></small><br/>Question: Are the pitch or roll checks failing ..."}
shim-dock-and-retry["<small><b>Step 11</b></small><br/>Action: This means the dock is likely not lev..."]
fully-raise-tower-and-retry["<small><b>Step 12</b></small><br/>Action: Fully raise the tower until there are..."]
check-fully-raised-tower-retry-troubleshooting-template["<small><b>Step 13</b></small><br/>Telemetry: Use the not-near-dock-troubleshootin..."]
are-fully-raised-tower-retry-template-checks-true{"<small><b>Step 14</b></small><br/>Question: Are any of the not-near-dock-trouble..."}
check-pitch-roll-after-fully-raising-tower{"<small><b>Step 15</b></small><br/>Question: After the tower is fully raised, are ..."}
shim-dock-after-fully-raising-tower-and-retry["<small><b>Step 16</b></small><br/>Action: After fully raising the tower, this m..."]
resurvey-after-physical-tower-move["<small><b>Step 17</b></small><br/>Action: If the tower has physically changed l..."]
check-resurvey-retry-troubleshooting-template["<small><b>Step 18</b></small><br/>Telemetry: Use the not-near-dock-troubleshootin..."]
are-resurvey-retry-template-checks-true{"<small><b>Step 19</b></small><br/>Question: Are any of the not-near-dock-trouble..."}
check-pitch-roll-after-resurvey{"<small><b>Step 20</b></small><br/>Question: Are the pitch or roll checks failing ..."}
shim-dock-after-resurvey-and-retry["<small><b>Step 21</b></small><br/>Action: After the resurvey, this means the do..."]
resurvey-close-to-thresholds["<small><b>Step 22</b></small><br/>Action: You will likely need to resurvey the ..."]
check-historical-resurvey-retry-troubleshooting-template["<small><b>Step 23</b></small><br/>Telemetry: Use the not-near-dock-troubleshootin..."]
are-historical-resurvey-retry-template-checks-true{"<small><b>Step 24</b></small><br/>Question: Are any of the not-near-dock-trouble..."}
check-pitch-roll-after-historical-resurvey{"<small><b>Step 25</b></small><br/>Question: Are the pitch or roll checks failing ..."}
shim-dock-after-historical-resurvey-and-retry["<small><b>Step 26</b></small><br/>Action: After the resurvey, this means the do..."]
escalate-nav{{"<small><b>Step 27</b></small><br/>Escalation: Escalate to P2 Nav On Call."}}
return-to-service["<small><b>Step 28</b></small><br/>Action: The vehicle may be returned to service."]
debug-that-alarm["<small><b>Step 29</b></small><br/>Action: This alarm has been resolved, and the..."]
sleep-and-try-again -->|Yes, the alarm is clear and...| return-to-service
sleep-and-try-again -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
sleep-and-try-again -->|No, and the NOT_NEAR_DOCK a...| power-cycle
power-cycle -->|Yes, the alarm is clear and...| return-to-service
power-cycle -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
power-cycle -->|No, and the NOT_NEAR_DOCK a...| check-not-near-dock-troubleshooting-template
check-not-near-dock-troubleshooting-template --> are-any-template-checks-true
are-any-template-checks-true -->|Yes, at least one check is ...| check-human-interventions
are-any-template-checks-true -->|No, all checks are false.| escalate-nav
check-human-interventions -->|Yes, the tower was lowered ...| check-tower-fully-raised
check-human-interventions -->|Yes, the tower was physical...| resurvey-after-physical-tower-move
check-human-interventions -->|No known tower movement or ...| resurvey-close-to-thresholds
check-tower-fully-raised -->|Yes, the tower is fully rai...| retry-preflight-after-tower-check
check-tower-fully-raised -->|No, the tower is not fully ...| fully-raise-tower-and-retry
retry-preflight-after-tower-check -->|Yes, the alarm is clear and...| return-to-service
retry-preflight-after-tower-check -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
retry-preflight-after-tower-check -->|No, and the NOT_NEAR_DOCK a...| check-tower-retry-troubleshooting-template
check-tower-retry-troubleshooting-template --> are-tower-retry-template-checks-true
are-tower-retry-template-checks-true -->|Yes, at least one check is ...| check-pitch-roll-after-tower-raised
are-tower-retry-template-checks-true -->|No, all checks are false.| escalate-nav
check-pitch-roll-after-tower-raised -->|Yes, pitch or roll is still...| shim-dock-and-retry
check-pitch-roll-after-tower-raised -->|No, pitch and roll are in r...| resurvey-close-to-thresholds
shim-dock-and-retry -->|Yes, the alarm is clear and...| return-to-service
shim-dock-and-retry -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
shim-dock-and-retry -->|No, and the NOT_NEAR_DOCK a...| escalate-nav
fully-raise-tower-and-retry -->|Yes, the alarm is clear and...| return-to-service
fully-raise-tower-and-retry -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
fully-raise-tower-and-retry -->|No, and the NOT_NEAR_DOCK a...| check-fully-raised-tower-retry-troubleshooting-template
check-fully-raised-tower-retry-troubleshooting-template --> are-fully-raised-tower-retry-template-checks-true
are-fully-raised-tower-retry-template-checks-true -->|Yes, at least one check is ...| check-pitch-roll-after-fully-raising-tower
are-fully-raised-tower-retry-template-checks-true -->|No, all checks are false.| escalate-nav
check-pitch-roll-after-fully-raising-tower -->|Yes, pitch or roll is still...| shim-dock-after-fully-raising-tower-and-retry
check-pitch-roll-after-fully-raising-tower -->|No, pitch and roll are in r...| resurvey-close-to-thresholds
shim-dock-after-fully-raising-tower-and-retry -->|Yes, the alarm is clear and...| return-to-service
shim-dock-after-fully-raising-tower-and-retry -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
shim-dock-after-fully-raising-tower-and-retry -->|No, and the NOT_NEAR_DOCK a...| escalate-nav
resurvey-after-physical-tower-move -->|Yes, the alarm is clear and...| return-to-service
resurvey-after-physical-tower-move -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
resurvey-after-physical-tower-move -->|No, and the NOT_NEAR_DOCK a...| check-resurvey-retry-troubleshooting-template
check-resurvey-retry-troubleshooting-template --> are-resurvey-retry-template-checks-true
are-resurvey-retry-template-checks-true -->|Yes, at least one check is ...| check-pitch-roll-after-resurvey
are-resurvey-retry-template-checks-true -->|No, all checks are false.| escalate-nav
check-pitch-roll-after-resurvey -->|Yes, pitch or roll is still...| shim-dock-after-resurvey-and-retry
check-pitch-roll-after-resurvey -->|No, pitch and roll are in r...| escalate-nav
shim-dock-after-resurvey-and-retry -->|Yes, the alarm is clear and...| return-to-service
shim-dock-after-resurvey-and-retry -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
shim-dock-after-resurvey-and-retry -->|No, and the NOT_NEAR_DOCK a...| escalate-nav
resurvey-close-to-thresholds -->|Yes, the alarm is clear and...| return-to-service
resurvey-close-to-thresholds -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
resurvey-close-to-thresholds -->|No, and the NOT_NEAR_DOCK a...| check-historical-resurvey-retry-troubleshooting-template
check-historical-resurvey-retry-troubleshooting-template --> are-historical-resurvey-retry-template-checks-true
are-historical-resurvey-retry-template-checks-true -->|Yes, at least one check is ...| check-pitch-roll-after-historical-resurvey
are-historical-resurvey-retry-template-checks-true -->|No, all checks are false.| escalate-nav
check-pitch-roll-after-historical-resurvey -->|Yes, pitch or roll is still...| shim-dock-after-historical-resurvey-and-retry
check-pitch-roll-after-historical-resurvey -->|No, pitch and roll are in r...| escalate-nav
shim-dock-after-historical-resurvey-and-retry -->|Yes, the alarm is clear and...| return-to-service
shim-dock-after-historical-resurvey-and-retry -->|No, but the NOT_NEAR_DOCK a...| debug-that-alarm
shim-dock-after-historical-resurvey-and-retry -->|No, and the NOT_NEAR_DOCK a...| escalate-nav
style sleep-and-try-again fill:#dcfce7,stroke:#22c55e,color:#14532d
style power-cycle fill:#dcfce7,stroke:#22c55e,color:#14532d
style are-any-template-checks-true fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style check-human-interventions fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style check-tower-fully-raised fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style retry-preflight-after-tower-check fill:#dcfce7,stroke:#22c55e,color:#14532d
style are-tower-retry-template-checks-true fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style check-pitch-roll-after-tower-raised fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style shim-dock-and-retry fill:#dcfce7,stroke:#22c55e,color:#14532d
style fully-raise-tower-and-retry fill:#dcfce7,stroke:#22c55e,color:#14532d
style are-fully-raised-tower-retry-template-checks-true fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style check-pitch-roll-after-fully-raising-tower fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style shim-dock-after-fully-raising-tower-and-retry fill:#dcfce7,stroke:#22c55e,color:#14532d
style resurvey-after-physical-tower-move fill:#dcfce7,stroke:#22c55e,color:#14532d
style are-resurvey-retry-template-checks-true fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style check-pitch-roll-after-resurvey fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style shim-dock-after-resurvey-and-retry fill:#dcfce7,stroke:#22c55e,color:#14532d
style resurvey-close-to-thresholds fill:#dcfce7,stroke:#22c55e,color:#14532d
style are-historical-resurvey-retry-template-checks-true fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style check-pitch-roll-after-historical-resurvey fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style shim-dock-after-historical-resurvey-and-retry fill:#dcfce7,stroke:#22c55e,color:#14532d
style escalate-nav fill:#fef3c7,stroke:#f59e0b,color:#78350f
style return-to-service fill:#dcfce7,stroke:#22c55e,color:#14532d
style debug-that-alarm fill:#dcfce7,stroke:#22c55e,color:#14532d Hover or focus a block to preview it. Select the block to keep the preview open.
1 action
Allow the vehicle to return to sleep. (Should take <2 minutes.)
Once asleep, send a new preflight mission.
Did the preflight succeed?
Once asleep, send a new preflight mission.
Did the preflight succeed?
2 action
Follow the procedure to Power Cycle Aircraft.
Once the vehicle is available, send a new preflight mission.
Did the preflight succeed?
Once the vehicle is available, send a new preflight mission.
Did the preflight succeed?
3 telemetry
Use the
1. Is
2. Is
3. Is
4. Is
not-near-dock-troubleshooting template on the failing mission. Check the following:1. Is
abs(docked_difference_enu.x) or abs(docked_difference_enu.y) more than 0.07?2. Is
abs(docked_difference_enu.z) more than 0.20?3. Is
q_LB_rpy_degrees.y outside the -2 to +8 range?4. Is
q_LB_rpy_degrees.x outside the -5 to +5 range? Enter the mission identifier above to load the plot.
4 question
Are any of the
not-near-dock-troubleshooting template checks true? 5 question
Check for human interventions. Has anyone recently moved, lowered, or otherwise physically disturbed the tower that this dock is on?
6 question
Check that the tower is fully raised and there are no gaps between the hinge flanges. Is the tower fully raised with no hinge-flange gaps?
7 action
Send a new preflight mission.
Did the preflight succeed?
Did the preflight succeed?
8 telemetry
Use the
1. Is
2. Is
3. Is
4. Is
not-near-dock-troubleshooting template on the new preflight mission after confirming the tower is fully raised. Check the following:1. Is
abs(docked_difference_enu.x) or abs(docked_difference_enu.y) more than 0.07?2. Is
abs(docked_difference_enu.z) more than 0.20?3. Is
q_LB_rpy_degrees.y outside the -2 to +8 range?4. Is
q_LB_rpy_degrees.x outside the -5 to +5 range? Enter the mission identifier above to load the plot.
9 question
Are any of the
not-near-dock-troubleshooting template checks true on the new preflight mission? 10 question
Are the pitch or roll checks failing on that new preflight mission? This means
q_LB_rpy_degrees.y is outside the -2 to +8 range, or q_LB_rpy_degrees.x is outside the -5 to +5 range. 11 action
This means the dock is likely not level.
1. Raise a TQ and request the "How to Level a Dock" guide. The FSE team will provide the guide.
2. Request the MX team use the guide to inspect the dock mounting. They will need to use a digital level at the specified points and check whether those measurements are out of tolerance. Check whether the issue is due to improper seating; if not, the dock may need to be shimmed based on the guide.
3. After leveling is confirmed to be within tolerance, run a new preflight.
Did the preflight succeed?
1. Raise a TQ and request the "How to Level a Dock" guide. The FSE team will provide the guide.
2. Request the MX team use the guide to inspect the dock mounting. They will need to use a digital level at the specified points and check whether those measurements are out of tolerance. Check whether the issue is due to improper seating; if not, the dock may need to be shimmed based on the guide.
3. After leveling is confirmed to be within tolerance, run a new preflight.
Did the preflight succeed?
12 action
Fully raise the tower until there are no gaps between the hinge flanges. Send a new preflight mission.
Did the preflight succeed?
Did the preflight succeed?
13 telemetry
Use the
1. Is
2. Is
3. Is
4. Is
not-near-dock-troubleshooting template on the new preflight mission after fully raising the tower. Check the following:1. Is
abs(docked_difference_enu.x) or abs(docked_difference_enu.y) more than 0.07?2. Is
abs(docked_difference_enu.z) more than 0.20?3. Is
q_LB_rpy_degrees.y outside the -2 to +8 range?4. Is
q_LB_rpy_degrees.x outside the -5 to +5 range? Enter the mission identifier above to load the plot.
14 question
Are any of the
not-near-dock-troubleshooting template checks true on the new preflight mission? 15 question
After the tower is fully raised, are the pitch or roll checks still failing on the new preflight mission? This means
q_LB_rpy_degrees.y is outside the -2 to +8 range, or q_LB_rpy_degrees.x is outside the -5 to +5 range. 16 action
After fully raising the tower, this means the dock is likely not level.
1. Raise a TQ and request the "How to Level a Dock" guide. The FSE team will provide the guide.
2. Request the MX team use the guide to inspect the dock mounting. They will need to use a digital level at the specified points and check whether those measurements are out of tolerance. Check whether the issue is due to improper seating; if not, the dock may need to be shimmed based on the guide.
3. After leveling is confirmed to be within tolerance, run a new preflight.
Did the preflight succeed?
1. Raise a TQ and request the "How to Level a Dock" guide. The FSE team will provide the guide.
2. Request the MX team use the guide to inspect the dock mounting. They will need to use a digital level at the specified points and check whether those measurements are out of tolerance. Check whether the issue is due to improper seating; if not, the dock may need to be shimmed based on the guide.
3. After leveling is confirmed to be within tolerance, run a new preflight.
Did the preflight succeed?
17 action
If the tower has physically changed location, you will likely need to resurvey the dock. Examples include a ballast tower move, a Zip hitting the dock or tower, or heavy machinery hitting the tower.
To do this, follow the Perform Survey on Tower Bay Work Order. If you are getting
After the resurvey is complete, send a new preflight mission.
Did the preflight succeed?
To do this, follow the Perform Survey on Tower Bay Work Order. If you are getting
NOT_NEAR_DOCK alarms, this likely means that you already have a Zip in the dock. If that's true, Service Engineering can complete the work order by skipping to Step 3 per 10.6.2.a Resurvey the Dock: Dock Resurvey Procedure.After the resurvey is complete, send a new preflight mission.
Did the preflight succeed?
18 telemetry
Use the
1. Is
2. Is
3. Is
4. Is
not-near-dock-troubleshooting template on the new preflight mission after the resurvey. Check the following:1. Is
abs(docked_difference_enu.x) or abs(docked_difference_enu.y) more than 0.07?2. Is
abs(docked_difference_enu.z) more than 0.20?3. Is
q_LB_rpy_degrees.y outside the -2 to +8 range?4. Is
q_LB_rpy_degrees.x outside the -5 to +5 range? Enter the mission identifier above to load the plot.
19 question
Are any of the
not-near-dock-troubleshooting template checks true on the new preflight mission? 20 question
Are the pitch or roll checks failing on that new preflight mission? This means
q_LB_rpy_degrees.y is outside the -2 to +8 range, or q_LB_rpy_degrees.x is outside the -5 to +5 range. 21 action
After the resurvey, this means the dock is likely not level.
1. Raise a TQ and request the "How to Level a Dock" guide. The FSE team will provide the guide.
2. Request the MX team use the guide to inspect the dock mounting. They will need to use a digital level at the specified points and check whether those measurements are out of tolerance. Check whether the issue is due to improper seating; if not, the dock may need to be shimmed based on the guide.
3. After leveling is confirmed to be within tolerance, run a new preflight.
Did the preflight succeed?
1. Raise a TQ and request the "How to Level a Dock" guide. The FSE team will provide the guide.
2. Request the MX team use the guide to inspect the dock mounting. They will need to use a digital level at the specified points and check whether those measurements are out of tolerance. Check whether the issue is due to improper seating; if not, the dock may need to be shimmed based on the guide.
3. After leveling is confirmed to be within tolerance, run a new preflight.
Did the preflight succeed?
22 action
You will likely need to resurvey the dock.
To do this, follow the Perform Survey on Tower Bay Work Order. If you are getting
After the resurvey is complete, send a new preflight mission.
Did the preflight succeed?
To do this, follow the Perform Survey on Tower Bay Work Order. If you are getting
NOT_NEAR_DOCK alarms, this likely means that you already have a Zip in the dock. If that's true, Service Engineering can complete the work order by skipping to Step 3 per 10.6.2.a Resurvey the Dock: Dock Resurvey Procedure.After the resurvey is complete, send a new preflight mission.
Did the preflight succeed?
23 telemetry
Use the
1. Is
2. Is
3. Is
4. Is
not-near-dock-troubleshooting template on the new preflight mission after the resurvey. Check the following:1. Is
abs(docked_difference_enu.x) or abs(docked_difference_enu.y) more than 0.07?2. Is
abs(docked_difference_enu.z) more than 0.20?3. Is
q_LB_rpy_degrees.y outside the -2 to +8 range?4. Is
q_LB_rpy_degrees.x outside the -5 to +5 range? Enter the mission identifier above to load the plot.
24 question
Are any of the
not-near-dock-troubleshooting template checks true on the new preflight mission? 25 question
Are the pitch or roll checks failing on that new preflight mission? This means
q_LB_rpy_degrees.y is outside the -2 to +8 range, or q_LB_rpy_degrees.x is outside the -5 to +5 range. 26 action
After the resurvey, this means the dock is likely not level.
1. Raise a TQ and request the "How to Level a Dock" guide. The FSE team will provide the guide.
2. Request the MX team use the guide to inspect the dock mounting. They will need to use a digital level at the specified points and check whether those measurements are out of tolerance. Check whether the issue is due to improper seating; if not, the dock may need to be shimmed based on the guide.
3. After leveling is confirmed to be within tolerance, run a new preflight.
Did the preflight succeed?
1. Raise a TQ and request the "How to Level a Dock" guide. The FSE team will provide the guide.
2. Request the MX team use the guide to inspect the dock mounting. They will need to use a digital level at the specified points and check whether those measurements are out of tolerance. Check whether the issue is due to improper seating; if not, the dock may need to be shimmed based on the guide.
3. After leveling is confirmed to be within tolerance, run a new preflight.
Did the preflight succeed?
28 action
The vehicle may be returned to service.
29 action
This alarm has been resolved, and the issue is no longer blocking. Follow the guide for the remaining alarm(s) before returning the vehicle to service.
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