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That would be the 'check engine' light. This light comes on to indicate that there is an emission control malfunction detected by the vehicle's engine computer. This doesn't mean you need an oil change. When the light turns on, that means there is a diagnostic trouble code (DTC) stored in the engine computer. I would recommend taking it to a reputable shop for diagnosis. It could be something as simple as your gas cap being loose. I would not recommend taking it to an autozone or any other automotive parts house for a "free scan". Parts houses sell parts, not diagnose cars.
Sound like a DTC P0141 - O2 Sensor Heater Circuit Malfunction (Bank 1, Sensor 2)
A code P0141 may mean that one or more of the following has happened: * open or short to ground in the wiring harness * O2 heater circuit wiring high resistance * O2 heater element resistance is high * Internal short or open in the heater element
Note: Typically a failed catalytic converter does not cause this code. You're more likely to see a P0420 code for a failed converter.
my name is Jerry Tiet. Base on my experience on 1998 Toyota Sienna with the DTC P0303 show there is a misfire in cylinder #3. a possible cause is the ignition coil of the #3 cylinder. Compare the resistance value of the ignition coil of cylinder #3 with the other coil or simply switch ignition coil #3 with one of the other ignition coil and clear the DTC with the scan tool. Then run engine for couple days. If the check engine light on again. Let me know what is the DTC code.