I kept throwing this code the last few times i have rode. 520344 with 17 on bottom. I cant find a lot of information about this. My rzr is a 15 1k. Everything goes fine for a while and then it starts to stumble under 3500 rpm. Eventually it will will stall out when I come to a stop. I also noticed this last weekend when I come to a stop and need to shift sometime the idle would be up to 2000 and I would have to pop the throttle to get it fall down so I could shift. It was also bucking while holding the brakes at a stop. Kinda like an automatic car with a big cam. Anything over 4000 rpm and it runs fine, the code eventually clears out. I idled the bike in my garage yesterday for over 20 minutes and varied the throttle and everything seemed to be fine. I have checked the injector wires, 02 wires and any other electrical I could get to with the motor being hot.

Any help would be great. Im trying to avoided having the dealer charge me an arm and a leg for something I can fix. Im just having trouble tracking the problem.

The things i think it could possibly be:
1. Crank Sensor
2. Jumped Timing