sag2 is on the money, as usual... ... looks like this code will set if the delta p tubes are reversed or broken, but also if there is an exhaust system leak, the sensor has failed, electrical issue, or the DPF is cracked (but a cracked DPF will soot the tailpipe). More than likely it is a simple issue, if you have not had it serviced recently I'd say take it in and you should be taken care of quickly.