Copter lost control in loiter

so my quad lost control in loiter.  I was flying it for the 5th time just hovring around, flipped it into loiter and it started pitching forward.  So much so i went back to atti and brought it to the ground.  The mission planner started screaming "error pos horizon variance".  Ive never dealt with this before and im kind of stumped...also afraid to try any sort of auto testing before i have someone else lay eyes on my logs.  Any insight would be appreciated.

2016-02-05 15-46-01.bin

2016-02-05 15-55-12.bin

2016-02-06 15-50-49.tlog

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