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P0158: 02 Sensor Circuit High Voltage (Bank 2 Sensor 2)
I'm not very familiar with OBD-II but there are two posiibilities that occure to me without lookin them up. One possibilty is that the indicated sensor is bad and not creating any (or much) resistance, allowing full voltage though it to be read by the computer.
The other possibilty that occures to me is that since it is sensor 2, that's the one after the cat convertor and it's reading an incorrect post-cat mixture, indicating that the convertor is bad. I'll look into this further and see if I can narrow it down...
It is necessary to consult the PCED for the specific model and the production year instead of relying on a generic table of all possible codes which makes no differentiation.
FWIW, MY 2002 was the first year that Ford utilized the P0158 code....