I had the exact same problem after about 12 runs when I first got the boat. Here's how you fix it:

Open the radio box

Unplug the servo wire leading to the receiver

Unplug the ESC wire leading to the receiver

Pull the receiver out of the radio box.

Then throw the receiver and transmitter in the garbage (or drive over it with your car/pickup/semi/freight train etc) and replace them with a new FM transmitter and receiver.

Problem solved. Never a glitch again!