Audi A3 Automatic wont start on first crank but will start on second crank - P3053 00 [039] - 50 Short to Ground

Hi, I was wondering if someone could help shed some light on this issue which I am having with my car.
Car: Audi A3 2012 automatic, 2.0L TDI engine (140 ps)
Problem: Car does not start on first crank but will do on the second crank. This issue started occurring randomly and has been doing this for the last 2-3 months. Video showing this https://vid.me/Lyh9
I connected the car up to VCDS today and got the following error message

1 Fault Found:
5462 - Starter Control; Returned Message
          P3053 00 [039] - 50 Short to Ground
          Not Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 2
                    Fault Frequency: 1
                    Mileage: 153503 km
                    Date: 2016.08.12
                    Time: 00:20:04
 
                    Engine speed: 147.50 /min
                    Normed load value: 100.0 %
                    Vehicle speed: 255 km/h
                    Coolant temperature: 17 °C
                    Intake air temperature: 20 °C
                    Ambient air pressure: 1010 mbar
                    Voltage terminal 30: 9.040 V
                    Unlearning counter according OBD: 40
                    Engine control module reset status-Bit 0: 00000000
                    Engine control module reset status-Bit 8: 00000000
                    Limitation: torque: 0.0 Nm
                    Limitation: accelerator pedal: 99.8 Nm
                    Cruise Control System (CCS): status-Bit 0: 00000111
                    Accelerator pedal travel: 0.00 %
                    Engine torque: 185.8 Nm
                    Generator: load signal: 0.02 %
 
Readiness: 0 0 0 0 1
 
What do you think could be causing the issue? Any suggestions as to possible fixes. I have had a look around on the net and my research suggests I may need to replace the starter motor relay. But I cannot find a wiring diagram for this. I would appreciate any help on this. Thanks in advance

Hi...welcome to the forum!

Two points that jump out at me from those readings...

1. The vehicle speed is registered at 255kmp?  surely not!

2. The voltage at terminal 30 is only 9.0 volts...which would suggest a poor earth, grubby connections or old/defective battery.

I would go back to basics and test the battery, any connections from the battery and to the starter and if the battery is low on discharge test, I would replace it.

Let us know how you get on with it

Cheers  Trevor- Admin