1996 7.3L F350/ Starts, rough idle

[hajdukeomfd]

Here is the situation regarding my truck:
Went outside to start my truck to go to work, it was 18F outside but the truck was plugged in and the Edge CTS Insight said the engine oil temp was 86F. Truck started right up, ran for about 10 seconds perfectly, then rough idled and died. Tried it again and the next time it went straight to the rough idle for 5 seconds and died. Everytime after that it was the same. I changed the fuel filter, and the CAMP sensor. Aftert the CAMP sensor the truck doesnt die, it just rough idles, and i mean rough, it shakes the truck hard.
Here is some background on my truck:
1996 7.3
New fuel filter and CAMP sensor.
4" DPF exhaust from the stock downpipe back.
afe stage 2 intake.
Just took out the "mindblower performance maximizer" that came with the truck when i bought it.
Both tanks have over 3/4 of diesel in them.
The fuel pump works, because the new fuel filter cap gasket failed and sprayed everywhere.
The Ford engine management mod. sometimes reads "C Err" and the Edge CTS shuts itself off when that happens.
No smoke out of the exhaust while cranking or running.
The check engine light is on.
Code P0470 comes up.
214,000 miles, auto tranny, no air conditioning.
Vehicle voltage is slow to reach 14.6v after starting, starts at 11.8v

Any help would be greatly appreciated as my wife needs her XTerra back soon.

Update: Truck is fixed. Needed a new witing harness, had new valve cover gasket and exhaust backpressure sensor put in. Runds just fine now.