I will give them credit for a pretty good guidance and control system, if not their engine design. Having that extensive of a malfunction at liftoff and still having a control system capable of stabilizing the rocket is pretty impressive. As Scott Manly described it, the rocket basically hovered at it moved slowly sideways until it burned off enough fuel to begin climbing. Losing control at an altitude of 20+ miles probably resulted from simply running out of fuel. Most boosters expend their fuel load in 2-3 minutes, but usually have the velocity to be a lot higher than 20 miles. Hope their data recovery will be able to tell them what happened.