2011 Prius Two not II because it is not a 2010 Hidden Menu

If you haven't hooked your battery up to a charger after discharging the battery so low that a jump was required, then it's doubtful that the battery is back to optimal condition.

Buy a cheap multimeter from Walmart, etc (approx. $10 or less) and measure the voltage of your battery at the engine jump terminal and ground with the ignition/power off. Then turn on your headlights, again with the ignition off, and measure the voltage again. Report back with your readings.

 

Most autoparts stores that sell batteries will do a free battery test, and some will even give you a printout of the results.

 

If it's the original battery it's way over due for replacement. If a light left on killed it then it may begin sulphating
Which means it will never hold a proper charge again. You may notice your mileage taking a hit as the inverter struggles to keep it charged.
I don't believe the G3 has the menu you mentioned but a good trick is at night before starting the car turn the headlights on before u boot the car. Watch the lights and see if they dim the slightest bit .
If you see a dimming even tiny it's getting ready to leave you again.

Replace it now.

 

Car in ACC mode (one press of power switch without pressing brake). Audio system on. Hold down Info Phone button and cycle headlights on and off.