Relevant excerpt: > [...] saturation – maximum measurement – of the Inertial Measurement Unit (IMU) had occurred shortly after the parachute deployment. The IM

Relevant excerpt: > [...] saturation – maximum measurement – of the Inertial Measurement Unit (IMU) had occurred shortly after the parachute deployment. The IMU measures the rotation rates of the vehicle. [...] > When merged into the navigation system, the erroneous information generated an estimated altitude that was negative – that is, below ground level.