Pixhawk 2.1 and Here+ causes crash? ArduPlane

Can anyone find what is causing my plane to crash in this log? It shows a IMU and GPS error on auto analysis but that is from the crash. The plane flies perfect in manual, FBWA/FBWB, and loiter, but when i do a mission I AUTO it will toliet bowl and crash. Or it will do a “controlled flight into terrain” like it did last time and destroy the plane.

logs link : https://drive.google.com/open?id=0B8tSitIsMT4ZbGtUcm85VjdJcVk