3.2.1 suddenly fell from the sky

My hexa suddenly fell from the sky.

It looks similar to this:
http://diydrones.com/forum/topics/need-help-for-crash-log-file-analysis
and this:
http://diydrones.com/forum/topics/crash-log-diag

Logs attached. After the fall, no damage reported, so we could fly with the SAME BATTERY. After that, we continuosly fly all the morning without any problem.

What happened?

90.BIN

90.kmz

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