I have the same code 51, on my 94 pathfinder. I have gone through the procedure for testing the injector circuit, and found about a 1.2v drop on the 2,4,6 side, and further inspection found that my #6 injector ohms out at 14.4, and all the others were about 12.8. Could that one injector be the cause of my voltage drop on that side? The other thing that I found funny is, that when doing the power bank testing (I think that's what it's called), the #6 cylinder did stumble just like all the others when I pulled the plug wire. The truck still runs smooth, but I have been getting crappy fuel economy lately. Crappier than normal. I also tested the MAF, TPS, IACV, and O2 sensors according to the procedures, and all of them test good. The truck got a tune up when I first bought it about a year ago, plugs, cap, rotor, wires, fuel and air filters, and also a new radiator. I also am planning on tackling the passenger side exhaust manifold leak this weekend. Looks like a PITA.