Sudden gyro measurement offset

ArduCopter Copter 3.5
3

Here’s the log file: https://app.box.com/s/5ltoju3ek3ax0fq8kqt3txf10z8p7c3w. It’s a little wonky because

  1. Sometimes when I convert a dataflash file to .log in mission planner some of the data gets clipped or flattened - this file is missing some GPS data but you can still see the gyro offset when it happens. It doesn’t happen to every file but it always happens to this one for some reason.
  2. I was flying near my house and don’t want that in a public forum so I zeroed all the gps and altitude data.