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I have 2 drives in RAID 1 configuration, as Ubuntu 16 boot drives. One of the drives failed and recovered by itself and I now have the following output:

root@server:/home/admin/megacli/Linux# megasasctl
a0       PERC H310 Adapter        encl:1 ldrv:1  batt:FAULT, module missing, pack missing, charge failed
a0d0       931GiB RAID 1   1x2  DEGRADED
unconfigured:  a0e*s0  
a0e*s0      931GiB        ready   
a0e*s1      931GiB  a0d0  online  

root@server:/home/admin/megacli/Linux# megacli -pdgetmissing -aALL

    Adapter 0 - Missing Physical drives

    No.   Array   Row   Size Expected
    0     0       0     953344 MB

Exit Code: 0x00

What megacli commands do I need to enter to get the a0e*s0 back online like the other drive?

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You can try to set the device "online" with

MegaCli –PDOnline -PhysDrv[XXX:XXX] -aN

Or maybe if needed set it as "unconfigured good" with

megacli -PDMakeGood -PhysDrv[XXX:XXX] -Force -aN

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