DTC P0130: Right O2 Sensor Upstream TWC (G3/4): Notes
WARNING: This page does not describe the selected car, but rather 16 other vehicles, including the 2002 Mercedes-Benz SL500, 2002 Mercedes-Benz S500, 2002 Mercedes-Benz S430, 2002 Mercedes-Benz E55, and 2002 Mercedes-Benz E430. However, it is still accessible from the selected car via links, so may be relevant.
CAUTION:
If O2 sensor ground circuit is shorted to B+, ME-SFI control module is destroyed.