Estimator watchdog deciphering

Can anyone give me a quick lowdown on how to interpret the innovations in the estimator watchdog?

https://logs.px4.io/plot_app?log=2568c516-43a4-438f-8ad0-b8e33e9fc3ca#Nav-Estimator-Watchdog

Are the yellow peaks in this log yaw or airspeed related? How would I correct the root issue?