This is an Outlook generated error and isn't something that is generated by the synch application. The error seems to be caused by a conflict between exchange copies and local copies of outlook items, but I haven't been able to find any more details than that at this stage.
You could try clearing Offline items from your tasks folder
This error usually indicates that there are invalid (is non XML compliant) characters in your tasks. These are usually caused by cutting and pasting emails from the iPhone into the Toodledo task notes.
The error message
There is an error in XML document (15872, 9) is indicating that this error is around line 15872 of the returned xml.
If you enable the 'show trace' and 'show traffic' options on the options panel you can see the xml returned from the website. This may assist you to work out which Toodledo task is causing the issue.
(alternatively you can try manually sanitizing all of your tasks. cutting and pasting the task note into notepad and back again should do this)
hope that helps
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