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To get the code jkeaton talks to cycle your ignition key from off to on/run and back 3 times and leave it at on/run on the third cycle. Your odometer will display a 4 digit code prefixed by a P. That code will tell you which sensor is having a problem. Gotta remember though you may have a code corresponding with a sensor but it may not be a bad sensor. Could be wiring or the PCM - the box that controls it.
Thanks guys, I have a code scanner I just couldn't remember ever seeing a second O2 sensor.
I got under the van and looked and yup, there's a sensor in the side of the cat.
OBD2 vehicles will have at least 2 O2 sensors. One before the cat and one on or after the cat. One measures exhaust gasses to set the fuel trim (pre-cat sensor), the other just monitors cat efficiency (post-cat sensor).