vjongene is correct that the Cobra doesn't go into error by simply missing the recommended safety stop. It will definately go into ERROR if it tells you it wants a MANDATORY safety stop and you don't follow it's floor/ceiling guidelines.
The Suunto will give you a MANDATORY safety stop for two reasons: 1) Going into a decompresion dive (as vjongene states), or 2) continuously ascending at an unsafe rate. If you ascend between 33fpm to 39fpm it will beep at you and scold you, but it won't go into error. If you exceed 39fpm continuously it will flash STOP and give you a FLOOR/CEILING for a mandatory safety stop. Actually the ref manual states "above 39 fpm or continuously above 33 fpm". If you violate the resulting required safety stop it will lock out.
On my first dive with my Cobra in Cozumel earlier this year I lost control of my bouyancy on ascent and quickly (i.e. >39fpm) shot through the (recommended) safety stop. As soon as I hit the surface I immediately upended and dropped down to 15 feet and stayed for 3+ minutes. The computer showed I was at 0 feet during the whole safety stop! All subsequent dives the Suunto worked fine. When I got back I contacted Suunto to ask what happened. It turns out that I violated the >39fpm ascent rate AND blew through the safety stop the Cobra started to go into an ERROR mode. Because I immediately dropped back down to 15 feet (within the 20 second sampling rate) it took itself out of ERROR mode, but it remained confused for the rest of that dive. When I uploaded my profile it showed exactly what happened.
btw I have NEVER heard my Cobra beep underwater... perhaps because I usually wear a hood.