Invincible defeats the poor excuse of high tier Saiyain.
In Dragon Ball Minus, Freeza sends a message to all the Saiyans telling them to come back to Planet Vegeta.
Vegeta and Raditz, who are together (as well as Nappa most likely), ignore it, and Goku is sent away just before Freeza sends it.
Even if Nappa wasn't with Vegeta and Raditz, he survived some other way.
Depending if you think Dragon ball Minus is canon, however.
I read it online about a day after it came out in English. I think on Kanzenshuu.
It might be hard to find though.
I'm not saure if they relaesed it in any tankobon format, however they'll probably re-release Jaco the Galactic Patrolman and have it as a bonus chapter. or something.
@gokugx: @BloodSprinkles: isn't that made by the original author who is known to make mistakes without the help of editor. the author wanted the ss1 multiplier to be 10x but the editor wanted 50x.
since there is no editor input i wouldn't classify it as canon for the above reasons