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Unfortunately these front load washers are fairly well known for sticking like mold/mildew because they seal up when the door is closed unlike top load washers. They also store water below the inner basket all the time so it creates a humid environment. This is why they make the Affresh tablets and such. What you'd want to do is run a cycle with a product called Washer Magic which you can pick up at a Lowes store or order online. That will clean the washer out better than anything else, but after that you'll want to clean out the drain catch.
There is a drain catch inside the washer that you will want to access and clean if you're getting this drain error. To access the drain catch, tip the machine backwards and lean it against the wall at a 45 degree angle or so. Remove the 3 screws along the bottom of the lower front panel. The lower front panel will then pull down and off. There is a 3" diameter plastic twist cap directly under the tub mounted to the floor. This is your drain cap. Unscrew the cap and clear any debris inside the drain catch. Clean it out as best you can with a rag.
As a last measure, when you're washer is not in use, don't close the door or the odor will come back. Just leave the washer door cracked open so it can vent better.
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