First up I see you’re on ArduCopter V3.6.7 with Cube black.
SB02 mandates minimum 3.6.11 with these parameters:
EK2_IMU_MASK,7 <- you have this at 3
INS_USE3,1 <- you have this at 0
Please also ensure Mission Planner is updated, as it will alert you to a Cube hardware issue if it exists in your Cube.
Seriously I’d recommend upgrading to 4.0.2, there’s a motor desyncing fix that will help with larger props, although I cant remember if 3.6.7 was affected.
Looking at the log, it just seemed to get out of control and not able to stabilize itself, possibly due to being a bit over-weight or underpowered - average PWM is a little bit on the high side but not the worst we’ve ever seen. The correct settings in MOT_BAT_VOLT_MAX and MOT_BAT_VOLT_MIN could help. Also try these lower PIDs to begin with:
If you’re staying with a AC 3.6 version, start with these parameters then run an Autotune, assuming 6 cells and 16inch props:
Initial Parameters if you want to upgrade to 4.0.2 first:
You can copy and paste these straight into an ordinary text file (notepad) and Save As with a .param file extension and then apply them using mission planner. This saves trying to find all the parameters and individually type in new values, and possibly making mistakes.