I'm taking an educated guess here, nothing more.
The Precat (there are pre and post catalytic convertor sensors) Oxygen Sensor response time sounds like the sensor MIGHT be failing - it sounds like the computer can "see" the sensor but did not get the expected voltage back. This is what triggered the check engine light.
I think the Intervention ASC didn't trigger the check engine light. At some point the ASC (Automatic Stability Control) kicked in when you were driving, and it logged the event.
I would reset the codes and wait for it to happen again before doing anything.