Hi, yesterday I scanned my car to see why the check engine light cam on and here's what came up in my log file

Tuesday,02,April,2013,17:08:48:10074
VCDS Version: Release 11.11.2
Data version: 20120126



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Address 01: Engine Labels: 06E-910-559-BKH.lbl
Control Module Part Number: 4F1 910 559 F HW: 4F1 907 559 A
Component and/or Version: 3.2l V6 FSI 0040
Software Coding: 01050106190F0120
Work Shop Code: WSC 98765 666 38974
VCID: 2E570A8BB90C643
2 Faults Found

000020 - Bank 1: Camshaft B (Exhaust)
P0014 - 008 - Retard Setpoint not Reached (Over-Advanced) - MIL ON
Freeze Frame
Fault Status: 10101000
Fault Priority: 5
Fault Frequency: 30
Reset counter: 40
Mileage: 186030 km
Time Indication: 0
Date: 2013.03.06
Time: 12:35:37

Freeze Frame
RPM: 2016 /min
Mass Air / Rev.: 327.0 mg/str
Temperature: 88.5°C
Part Throttle
Bin. Bits: 00000000
Steering Angle: -124.91°

000870 - Camshaft Position Sensor B Bank 1 (G300)
P0366 - 006 - Implausible Signal - MIL ON
Freeze Frame
Fault Status: 10100001
Fault Priority: 4
Fault Frequency: 22
Reset counter: 40
Mileage: 187281 km
Time Indication: 0
Date: 2013.03.27
Time: 19:55:37

Freeze Frame
RPM: 1280 /min
Mass Air / Rev.: 288.9 mg/str
Temperature: 21.0°C
Idle
Bin. Bits: 00010000
Speed: 0.0 km/h


Readiness: 0000 0000

I cleared the code to see if it would work but the light came back on after an hour or so. Thing is, when the light is on, I notice a loss of power, and the timing and gear changes seem off, and sometimes the car has problems on idle(rumbles). When the code was cleared the car ran perfectly fine for that hour or so that the check light was off, when it came back on the car began to slowly do the same thing again. I'm thinking it can be the sensor? Not a mechanical problem... Would anybody have any information about this? Let me know, thanks!

 

I had the exact same problem on my Mercedes C240 5 or 6 years ago. Very, very common problem with Mercedes.

The problem with the CPS was happening only when the car was warm. No problem when I started it in the morning, no problems when it got to full operating temperature. The problem was just in between temperature... and the the car would not start.

The fix was quite expensive at the dealer (as with every Mercedes dealer ) as the part was $400 and $400-$500 for labour. I got the Bosh part online for $30 and installed it myself in 1 or 2 hours max.

I don't know exactly how different this can be with the Audi but maybe this information might help you understand why the problem goes away and then comes back.
Look on forums to see if you can change it easily yourself, it is only a little sensor that you unplug, unscrew and replace. The challange might be to get to it....