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I've had this error also in my 335d.
It happens pretty regularly at cold temperatures (less than -20C... about 0F).
From my research and discussions with SAs it is because urea fluid tank freezes and the fluid crystalizes so it doesn't flow right.
It effects the performance a bit... so just don't hammer the pedal when it's so cold.
It also tends to only happen at speeds > 120km/h (65 mph).
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