Here’s the transcript of the explanation from episode 7.03: Lance: Wow, a lot of things have really changed over the past few weeks. Acxa: “Weeks”? What are you talking about? Allura: The last time we saw you. You were fighting us alongside Lotor. Acxa: That was three deca-phoebs ago. No one has seen you since your fight with Lotor. Keith: That’s impossible. Acxa: It’s true. After Lotor jettisoned us, we managed to make it to cover on a meteoroid. There we saw both Voltron and Lotor disappear. Eventually Voltron re-emerged… alone. But then there was an explosion and after that… nothing. That was three-deca-phoebs ago. Lance: Whoa. Allura: So, as far as everyone else in the universe is concerned, Voltron has been gone for three deca-phoebs? Pidge: That explains the discrepancies in the star charts in our Lions. I thought they were off because of our inter-dimensional jumping, which I guess they were, in a way. Because when you think about it, that must have been the cause of the time slippage between our experience and that of the rest of the universe.
Keep reading