Code: P0031, Front oxygen (A/F) sensor heater circuit low input.
Year/Make Model: 2002 Impreza RS
Mileage: Approx. 7k
Fix: (general) Replace/Clean front O2 Sensor
(my case) Plug front O2 sensor back in
Mods: Ganzflow Intake, K&N Panel filter, Borla Header (wrapped), Apex'i N1 Exhaust.