Not exactly sure what caused the code to be thrown or what it exactly means.
I have Torque Pro so I pulled the code and will see if it resets on its own.
P20C2 - Reductant Heater C Control Circuit Performance
I am going to guess this has something to do with either the DEF tank or fuel tank heater. THe weather is right at 30-32F and it only came on after it was stopped outside for 20 minutes and I started it back up and started driving.
Here is a link to the code:
I will keep everyone up to date.