Drone's view of its position versus simulator's view in gazebo

ArduCopter Copter 4.0
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Attached is the result of a drone armed and flown in guided mode to 1m high, then left to its own devices.

I grab the position via the vehicle.position over mavlink - see first attachment.
m1_gps_imu_only_30m_drone

The second attachment is the same only also showing the gazebo’s view of the drone’s position. I get the gazebo’s view by subscribing to to one of its publishing channels.

m1_gps_imu_only_30m

You can see that the simulator’s view matches the drone’s view but it would seem perhaps there is a scaling and offset factor.

I have two questions:

  1. why is there an apparent scaling and offset between the two?

  2. why is there what appears to be a bimodal clumping - where the drone favours two positions?

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