I dont see the actual cause yet, but current certainly does spike (20 amps up to 120 amps) so maybe there’s an intermittent power distribution or wiring fault.
While you are busy searching and fault finding, check out this guide:
Also on the map, at the start and end of the flight, IMU and GPS positions differ. This is usually because of vibrations, but your vibes look OK.
In my (limited) experience with IMU failure there usually appears nothing wrong in the logs (attitude is good, horizontal and stable) despite the craft meeting the ground at some crazy angle. So far it doesnt look like IMU failure in your case.
Set this for subsequent flights
INS_LOG_BAT_MASK,7
INS_HNTCH_ENABLE,1
What ESCs are you using, these might need adjusting:
MOT_PWM_MAX,2000
MOT_PWM_MIN,1000
and even ESC calibration
As mentioned by Dave, just lower MOT_SPIN_ARM so that there is reliable start up of motors.