2007 Prius Error: P0ac0 and P0afa

Car was perfectly fine. Parked it in a parking spot, turned it off for a minute, started it back up, and BAM, Master Indicator Light is illuminated(not blinking), along with check engine light. (yellow, not blinking)

Code reader gives me these two codes: P0ac0 and P0afa

Tried to drive it, but it was like it didn't know whether it was going to use electric or gasoline engine, and just went from 0 to 10 mph then the engine cut out, dropped back to 2mph, then it started going again to 10 mph, etc.. repeat this, each cycle lasting about 2 seconds.

After this, the car was parked overnight. Came back the next day to check the vin and make sure it was okay. Started it up noticed the battery had only 1 "bar" on the info screen.... and it seemed to drive okay?

I think maybe the thing that swaps between gas/electric (kind of like a thermostat) is bad, and now somehow the battery is dead so it is using gasoline and running properly (or as proper as it can)?

Either way, didn't drive the car, going to tow it to a dealer. But I was hoping there is a simple solution to this or some other troubleshooting steps I can take.

I cannot find the repair/service manual for this car. I'm an aerospace engineer and would have no trouble doing some light work, even electrical (with a manual). I have a lot of experience with more conventional cars, but hybrids are not something I am familiar with.

Any ideas?

-Thanks guys