If this is the one & only time that this has happened, you probably will not be able to identify why/what caused it. Remember that a 2007 year bike does not have a cam sensor and relies on engine cranking at start up to phase the ignition & injectors. If by chance the ECM does lose sync during an engine running event, the ECM will force a re-phase on the fly. It's possible that this is what happened. The ECM will force a re-phase by firing the rear plug on both TDC of compression and TDC of the exhaust stroke. Should this happen, a firing on TDC of exhaust can ignite the raw fuel in the muffler.
It's very possible that this is what happen to you.
I myself wouldn't get too crazy over it unless it happens again. Now if it happens again within a few weeks, then I would dig deeper.