BAD CATALYTIC CONVERTER(S) or O2 SENSORS???
 

96 SL500 119 eng starts great cold, runs good, smooth,good on highway.
When it gets up to operating temp it will not idle.it stalls and will not restart unless you work the throttle to keep it out of idle.
IT is throwing codes for the O2 sensors after the cats both sides
P0141 and P0161 O2 probe heating after cat
replaced one of the sensors for trouble shooting no help still throwing the same codes. BIG difference in voltages between left and right probes
O2S G3/5 after cat left 18-23 mv
O2S G3/6 after cat right 380-399 mv big diference
Could this be a bad cat the O2 sensors can not adjust the mixture for ?are they clogged? do they act up when they are hot? Thanx John:confused:

P0141 and P0161 refer to problems with the catalyst monitor HEATER circuits. Check for battery voltage and ground at the heater terminals of the catalyst monitors (ignition may have to be ON for battery voltage to be present). Might be an open fuse or poor ground since both sensors are throwing codes. Certainly not a catalytic converter problem (those codes are P0420 and P0430).

i wouldnt worry about a clogged cat,its going to cause engine backfiring popping,hesitation,all the time,sounds like a loose connection to the o2's,check all terminal ends for corrosion,test all terminal ends for the prover millivolts.could be bad o2 sensors remove them they should be a tan reddish color with some carbon,if there al black or white and clogged around the fins def,replace them,id replace them anyways as preventve maintence.