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://*******/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