The reason there is no consistency to the light coming on is because this is an O2 monitor code. There are several on board diagnostic monitors that your PCM runs,these are seperate programs kinda like the programs that run on your home computer like a virus scan or disk defrag.
The monitors on your vehicle are Catalyst Efficiency Monitor, Comprehensive Component Monitor, Evaporative Emission (EVAP) Leak Check Monitor, Exhaust Gas Recirculation (EGR) System Monitor , Fuel System Monitor, Heated Oxygen Sensor (HO2S) Monitor, Misfire Detection Monitor, PCV System Monitor.
This code you have is set when the HO2S monitor runs.
The Fuel System Monitor and Misfire Detection Monitor must also have completed successfully before the HO2S Monitor is enabled. Input is required from the ECT or CHT, IAT, MAF and CKP sensors to activate the HO2S Monitor.
Once the HO2S Monitor is enabled, the HO2S signal voltage amplitude and response frequency are checked. Excessive voltage is determined by comparing the HO2S signal voltage to a maximum calibratable threshold voltage. A fixed frequency closed loop fuel control routine is executed and the HO2S voltage amplitude and output response frequency are observed. A sample of the HO2S signal is evaluated to determine if the sensor is capable of switching or has a slow response rate. A HO2S heater circuit fault is determined by turning the heater on and off and looking for a corresponding change in the Output State Monitor (OSM) and by measuring the current going through the heater circuit.
So basically what it is doing is, when it turns on it compares the switching rate of the O2 sensor with a program in memory to see if its response rate is ok. Then it does a second test where it turns on the heater ckt in the O2 and measures the current draw and compares it to memory. The MIL is activated after a fault is detected on two consecutive drive cycles. Now for a drive cycle to complete vehicle has to go thru engine warm up, driven at certain conditions, then engine cool down. This is why there is no pattern to your CEL coming on. Now the particular code P0153 is for a slow switching response rate from the bank 2 drivers side front O2 sensor. Now the following items could cause this Contaminated or Deteriorating HO2S sensor
Exhaust leaks
Shorted /open wiring
Improper fueling/injectors clogged, dripping, etc.
MAF sensor
Inlet air leaks