A diagnostic system for an engine includes an oxygen detection module, a timing module and a control module. The oxygen detection module receives an oxygen signal from an oxygen sensor that detects an oxygen level in an exhaust system of the engine. The oxygen signal has N rich states and M lean states, where N and M are integers greater than or equal to 1. The timing module determines a rich period that the oxygen signal is in at least one of the N rich states and determines a lean period that the oxygen signal is in at least one of the M lean states. The control module detects an asymmetrical error with the oxygen sensor based on a comparison between the rich period and the lean period.