If I remember correctly, the cause of this accident was that one of the nozzles had been wired in reverse, causing it to move differently from what the rocket ordered it to.
In that one the gyroscopes (all 3 of them) were installed upside-down, and what's truly facepalm-worthy was that the guy who did that decided to force them into place:
investigators simulated the improper installation of the DUS angular velocity sensors on the actual hardware. As it turned out, it would be very difficult to do but not impossible. To achieve that personnel would need to use procedures and instruments not certified either by the design documentation or the installation instructions. As a result, the plate holding the sensors sustained damage.