When there is no wind, which is the case here, the tilt direction should be the same as the direction of travel. The difference between the two directions is the yaw error. It can be seen that at the beginning, the yaw error was about 180 degrees so the craft flew almost straight away.
After travelling for a distance, the craft learned from the changes in GPS coordinates or the magnetic field the correct direction so it made an adjustment to reduce the error to something like 135 degrees. The flight path then changed into a toilet-bowl shape.
I believe if sufficient time was given, the craft should have been able to correct all the errors but unfortunately it went into what seems to be an uncommanded descent and crashed.
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