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Cycle won't complete

Hi!! We have a Fisher and paykel top loader washing machine. ( Model details in picture). The machine won't complete a cycle by itself. It starts a long wash and then stops washing and keeps beeping. If I turn it off I can get it to restart on a smaller cycle, but then often stops on the rinse and again beeps. Would love indications of hopefully cost to repair so we don't have to buy a new one :)