Position innovation divergence causing loss of control

Hello, I have recently had a problem about a loss of control in the copter that induced the pilot to termite flight with a flight termination system.
After less than a minutes fling in loiter mode, pilot lost control of the drone and terminated it.
After reviewing the log it seems that this is caused by position innovation divergence.
Pls help me in understanting what happened.
Attached the log.

Cube autopilot
quadcopter with 18" props
6s 4p li Ion battery
Baier Herkules III 4 in 1 esc.

Many thanks in advance

Daniele Camatti00000161.zip (587.1 KB)