Fault code help please

[G3off]

My wife had her auto gearbox swapped by a local garage, I took it for a spin when she got home but noticed the steering wheel out of line with the ESP warning lit on dash. She took it back to garage for them to rectify, although they claimed they did not touch it, but they said that they could not set it (?) to zero!

Initially I didn't scan the car but the ESP light is back on again and curiosity has got the better of me,

Can someone shed some light on what is causing the sensor to fail please, H
here is the scan.............

Sunday,12,June,2011,19:26:52:39330
VCDS Version: Release 10.6.4
Data version: 20110418

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Chassis Type: 9C - VW New Beetle
Scan: 01 02 03 08 15 17 19 22 25 26 29 35 37 39 46 54 56 65 75

Mileage: 116980km/72688miles
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Address 01: Engine Labels: 06A-906-018-AQY.lbl
Part No: 06A 906 018 FM
Component: 2.0l R4/2V MOTR AT V04
Coding: 00033
Shop #: WSC 00066
VCID: 72F6CC01143F
1 Fault Found:
16556 - Fuel Trim; Bank 1: System Too Rich
P0172 - 35-00 - -
Readiness: 0000 0000
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Address 02: Auto Trans Labels: 01M-927-733.lbl
Part No: 01M 927 733 JQ
Component: AG4 Getriebe 01M 4718
Coding: 00000
Shop #: WSC 00000
VCID: 88020EE982A3
No fault code found.
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Address 03: ABS Brakes Labels: 1C0-907-37x-ESP-F.lbl
Part No: 1C0 907 379
Component: ESP 20 CAN V005
Coding: 18433
Shop #: WSC 00066
VCID: E7C02D55AFFD
2 Faults Found:
00778 - Steering Angle Sensor (G85)
62-10 - No or Incorrect Adjustment - Intermittent
00778 - Steering Angle Sensor (G85)
04-10 - Mechanical Malfunction - Intermittent
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Address 15: Airbags Labels: 6Q0-909-605-VW5.lbl
Part No: 6Q0 909 605 A
Component: 1T AIRBAG VW5 0D 0004
Coding: 12628
Shop #: WSC 00066
VCID: 357C371D25D1
No fault code found.
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Address 17: Instruments Labels: None
Part No: 1C0 920 900
Component: KOMBI+WEGFAHRS. M73 V07
Coding: 01442
Shop #: WSC 00000
VCID: D8A21EA91283
Part No: Ident
Component: Nr. Wegfahrs.:VWZ5Z0Y7305062
Ident.-Nr. Wegfahrs.:VWZ5Z0Y7305062
No fault code found.
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Address 19: CAN Gateway Labels: 6N0-909-901-19.lbl
Part No: 6N0 909 901
Component: Gateway K<->CAN V072
Coding: 00007
Shop #: WSC 00066
VCID: F0F246099A33
No fault code found.
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Address 46: Central Conv. Labels: 1J0-959-799.lbl
Part No: 1J0 959 799 AH
Component: 6P Zentral-SG Komf. 0001
Coding: 00256
Shop #: WSC 00066
VCID: 841A1AD9BE8B
Part No: 1J1959801C
Component: 6P Tõrsteuerger. FS0002r
Part No: 1J1959802D
Component: 6P Tõrsteuerger. BF0002r
3 Faults Found:
00955 - Key 1
09-10 - Adaptation Limit Surpassed - Intermittent
00943 - Heated Exterior Mirror; Driver Side (Z4)
35-00 - -
00944 - Heated Exterior Mirror; Passenger Side (Z5)
35-00 - -
-------------------------------------------------------------------------------
Address 56: Radio Labels: 1J0-035-18x-56.lbl
Part No: 1C0 035 186
Component: Radio BNO 0004
Coding: 00401
Shop #: WSC 00066
VCID: DBA801A563B5
1 Fault Found:
00852 - Loudspeaker(s); Front
36-10 - Open Circuit - Intermittent
End ---------------------------------------------------------------------

[Dana@Ross-Tech]

They shouldn't have needed to loosen the engine cradle/sub-frame to get that 01M unit out, but if the wheel isn't straight they may have removed and relocated the ball joints on the control arms. Either way it sounds like the front end alignment needs corrected.

Are the live readings from the G85 sensor reasonable?

http://wiki.ross-tech.com/wiki/index...ngle_.28G85.29

Check MVB 004.1 and turn the wheel to full lock right and observe the reading, turn to full lock left and see if that's nearly identical. Finally, leave it at 0.0 and try the complete calibration with login entered.