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The water is supposed to be drained out before the rinse cycle and when it gets to the rinse cycle ONLY the cold water enters the washer (where as on the wash cycle hot water is also used to regulate the temperature even is you select cold). In addition to that, the rinse cycle uses more water than the wash cycle so if there is an issue with the washer not filling up quick enough it will show up on the rinse cycle first. You'll want to make sure you have good pressure coming into the washer. If that checks good, then make sure the screens on the back of the washer where the water supply hoses connect to the washer itself aren't clogged with debris. Other than that this is a fairly new unit based on your error so if it's less than 1 year old, call warranty. If it's over 1 year old, the electronic water valve will need to be replaced because the solenoid that fills up for the rinse cycle (there are multiple solenoids on the water valve for different functions like wash, bleach, softener etc...) is restricting the water flow.
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