stdStateEntry thisStateEntry enum Actions : uint8_t { readConfigFile = 0, readMissionFile, initCTD1, initBcyEngine, initGPS1, initIModem1, initFLBB1, initOptode1, initPTH1, initMSC1, initOCR1, runInitPlatformTests, runWakeupTests, setBellows = surfaceOps handleErrors lastAction } lastAction timeout error handleErrors stdStateEntry thisStateEntry Actions { idle runPlatformVelocityControl startSampleAcq setGlideMode handleErrors } x/ timeout error StartSampleAcq stdStateEntry thisStateEntry Actions { idle startSampleAcq startCPMode deAnchor handleErrors } x/ timeout error StartSampleAcq StartCPMode StartCPMode stdStateEntry thisStateEntry Actions { idle startSampleAcq runParkDepthControl startCPMode handleErrors } x/ timeout error StartSampleAcq StartCPMode runParkDepthControl stdStateEntry thisStateEntry Actions { idle runPlatformVelocityControl startSampleAcq setGlideMode handleErrors } x/ timeout error StartSampleAcq stdStateEntry thisStateEntry Actions { getCPData setBellows(surfaceOps) getPosition startSurfaceAcq downloadCommandsSBD sendStatusSBD sendFilesIridium handleErrors lastAction } x/ timeout error