To prevent an issue if IMU is saturated, couldn't they just add an and clause to conditional to prevent parachute release? altitude > 0 and time since entry > x then release parachute? Entry counter triggered once temperature reaches certain threshold or another sensor triggers entry.
Just by inspection that looks like that will have a ton of unwanted side effects... How do you define as "entry"? What if the triggering of the "entry" timer fails?
