diff --git a/src/logic/progress_codes.h b/src/logic/progress_codes.h
index edc18e5..d535cbf 100644
--- a/src/logic/progress_codes.h
+++ b/src/logic/progress_codes.h
@@ -50,5 +50,7 @@ enum class ProgressCode : uint_fast8_t {
     HWTestDisplay, // P35
     ErrHwTestFailed, // P36
 
+    UnloadingFilamentSlowly, // P37
+
     Empty = 0xff // dummy empty state
 };
diff --git a/src/logic/unload_filament.cpp b/src/logic/unload_filament.cpp
index 951003c..b8bbecf 100644
--- a/src/logic/unload_filament.cpp
+++ b/src/logic/unload_filament.cpp
@@ -133,4 +133,20 @@ bool UnloadFilament::StepInner() {
     return false;
 }
 
+ProgressCode UnloadFilament::State() const {
+    switch (state) {
+    case ProgressCode::UnloadingToFinda:
+        switch (unl.State()) {
+        case UnloadToFinda::EngagingIdler:
+            return ProgressCode::EngagingIdler;
+        case UnloadToFinda::UnloadingFromFSensor:
+            return ProgressCode::UnloadingFilamentSlowly;
+            // the rest should be reported as UnloadingFilament
+        }
+        [[fallthrough]];
+    default:
+        return state;
+    }
+}
+
 } // namespace logic
diff --git a/src/logic/unload_filament.h b/src/logic/unload_filament.h
index c22bedd..4bc774d 100644
--- a/src/logic/unload_filament.h
+++ b/src/logic/unload_filament.h
@@ -21,6 +21,8 @@ public:
     /// @returns true if the state machine finished its job, false otherwise
     bool StepInner() override;
 
+    ProgressCode State() const override;
+
 private:
     constexpr static const uint8_t maxRetries = 1;
 
diff --git a/src/logic/unload_to_finda.cpp b/src/logic/unload_to_finda.cpp
index f24754b..d7e3247 100644
--- a/src/logic/unload_to_finda.cpp
+++ b/src/logic/unload_to_finda.cpp
@@ -20,37 +20,46 @@ void UnloadToFinda::Reset(uint8_t maxTries) {
         // FINDA is sensing the filament, plan moves to unload it
         state = EngagingIdler;
         mi::idler.Engage(mg::globals.ActiveSlot());
+        if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
+            state = UnloadingFromFSensor;
+            mpu::pulley.InitAxis();
+            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
+        } else {
+            state = FailedFINDA;
+        }
     }
 }
 
 bool UnloadToFinda::Step() {
     switch (state) {
     case EngagingIdler:
-        if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
-            state = UnloadingToFinda;
-            mpu::pulley.InitAxis();
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
-        } else {
-            state = FailedFINDA;
-        }
-        return false;
-    case UnloadingToFinda:
         if (mi::idler.Engaged()) {
-            state = WaitingForFINDA;
+            state = UnloadingFromFSensor;
             mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
             unloadStart_mm = mpu::pulley.CurrentPosition_mm();
+            // plan both moves to keep the unload smooth
+            mpu::pulley.PlanMove(-mg::globals.FSensorUnloadCheck_mm(), mg::globals.PulleySlowFeedrate_mm_s());
             mpu::pulley.PlanMove(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, mg::globals.PulleyUnloadFeedrate_mm_s());
         }
         return false;
+    case UnloadingFromFSensor:
+        if ((abs(unloadStart_mm - mpu::pulley.CurrentPosition_mm()) > mm::truncatedUnit(mg::globals.FSensorUnloadCheck_mm()))) {
+            // passed the slow unload distance, check fsensor
+            if (mfs::fsensor.Pressed()) {
+                // fsensor didn't trigger within the first fsensorUnloadCheckDistance mm -> stop pulling, something failed, report an error
+                // This scenario should not be tried again - repeating it may cause more damage to filament + potentially more collateral damage
+                state = FailedFSensor;
+                mm::motion.AbortPlannedMoves(); // stop rotating the pulley
+                ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
+            } else {
+                // fsensor turned correctly off, seamlessly transfer to fast unloading -> waiting for FINDA
+                // the move has already been planned when idler engaged
+                state = WaitingForFINDA;
+            }
+        }
+        return false;
     case WaitingForFINDA: {
-        int32_t currentPulley_mm = mpu::pulley.CurrentPosition_mm();
-        if ((abs(unloadStart_mm - currentPulley_mm) > mm::truncatedUnit(mg::globals.FSensorUnloadCheck_mm())) && mfs::fsensor.Pressed()) {
-            // fsensor didn't trigger within the first fsensorUnloadCheckDistance mm -> stop pulling, something failed, report an error
-            // This scenario should not be tried again - repeating it may cause more damage to filament + potentially more collateral damage
-            state = FailedFSensor;
-            mm::motion.AbortPlannedMoves(); // stop rotating the pulley
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
-        } else if (!mf::finda.Pressed()) {
+        if (!mf::finda.Pressed()) {
             // detected end of filament
             state = OK;
             mm::motion.AbortPlannedMoves(); // stop rotating the pulley
diff --git a/src/logic/unload_to_finda.h b/src/logic/unload_to_finda.h
index b84e516..0d9d8fd 100644
--- a/src/logic/unload_to_finda.h
+++ b/src/logic/unload_to_finda.h
@@ -15,7 +15,7 @@ struct UnloadToFinda {
     /// internal states of the state machine
     enum {
         EngagingIdler,
-        UnloadingToFinda,
+        UnloadingFromFSensor,
         WaitingForFINDA,
         OK,
         FailedFINDA,
diff --git a/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp b/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
index 31304d9..c9e066c 100644
--- a/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
+++ b/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
@@ -57,7 +57,7 @@ TEST_CASE("unload_to_finda::regular_unload", "[unload_to_finda]") {
     CHECK(mm::axes[mm::Pulley].enabled == true);
 
     // now pulling the filament until finda triggers
-    REQUIRE(ff.State() == logic::UnloadToFinda::WaitingForFINDA);
+    REQUIRE(ff.State() == logic::UnloadToFinda::UnloadingFromFSensor);
     REQUIRE(WhileCondition(ff, std::bind(SimulateUnloadToFINDA, _1, 10, 1000), 1100));
 
     REQUIRE(ff.State() == logic::UnloadToFinda::OK);
@@ -209,7 +209,7 @@ TEST_CASE("unload_to_finda::unload_repeated", "[unload_to_finda]") {
     main_loop();
     ff.Step();
 
-    REQUIRE(ff.State() == logic::UnloadToFinda::UnloadingToFinda);
+    REQUIRE(ff.State() == logic::UnloadToFinda::UnloadingFromFSensor);
     REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::InSelector);
 
     // make arbitrary amount of steps