It’s very unstable the whole time.
You’ve got the best battery on Earth though! The copter only draws about 2 amps and the battery voltage goes up over time 
You might have to do some work with the battery monitor to get all that correct.
Depending on what power-brick or power distribution board you’re using, these might be the most likely values you need:
BATT_VOLT_MULT,18.182
BATT_AMP_PERVLT,36.364
Check this discussion for other settings you might need:
And set or adjust all these too:
BATT_ARM_VOLT,11
BATT_CRT_VOLT,10.5
BATT_LOW_VOLT,10.8
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
MOT_BAT_VOLT_MAX,12.6
MOT_BAT_VOLT_MIN,9.9
The biggest problems are the vibrations
Your X and Y vibrations are poor - you’ll need to really examine prop balance.
Your Z vibrations are very bad - you’ll need to look for a number of things:
- props overflying the base plates (probably not with 10inch props) or very close to the arms - maybe space the motors up higher away from the arms
- flight controller vibration isolation
- wires pulling or rubbing on the flight controller
- wires hanging loose
- wires pulled too tight
- anything else loose anywhere
Maybe give us a photo.
Once vibrations are fixed give us the log of another test flight and we’ll be able to see if your PID’s are working OK. Preferably a .bin log file rather than a .log file.