I'm not sure what's going on there. Navigationally it was doing fine for the duration of the logged data, in that the GPS, IMU(0) and IMU(1) position calculations all agreed pretty well. The cause of the disconnects is unclear, but I'd suspect the Android device that you are using. There is no record of the uncommanded motion leading to the collision. Those data will be in the aircraft DAT file that only DJI can read, so you will probably need to return it to them for analysis.