Under load you are dropping lipo voltage to 3v per cell. That is pretty bad, what brand/spec lipos are you using? I would suggest gearing down, as you are overloading the batteries.
Is this happening early in the run, when the batteries are close to fully charged? Or at the end? You need to set the lvc higher as well, try 3.3v per cell.
Yes, I know... I'm using Turnigy Flightmax 5000mAh 5S 30C LiPo's, 4 of them. Wired in 10S2P. So they should be capable of 300A continous , but they can't even handle 130A peak. All the cells are good. I seriously don't know what's wrong with the LiPo's...