Only thing I know is that the time it did happen to me, was the only time I didn't warm the battery or use climate controls.
I got into the car on a freezing day and just drove it to get to somewhere quick. And I got the error on the highway.
So maybe warm the battery and use climate controls at least 10 minutes before getting in? (check my thread on more details and pictures)
I ran an experiment that same day when I got the error and I actually was able to drive the car for 10-15 minutes without the error. So from my short testing, that had something to do with it, whereas the new battery they are replacing with is good on quick and go.