51,000 miles. Orig battery died REALLY suddenly and REALLY dead - would not crank even jumped from towtruck. Took dead battery out, had it checked at Kragen (parts store). Bought new replacement battery, drove back to ML430, and installed - ESP/BAS light came on and stays on. (Car was without battery for maybe 1 hour.) Car now starts as usual, but BAS/ESP warning light is on and once I press gas pedal the motor keeps searching for an idle speed. Also gas pedal seems ineffective. I could idle the car to a dealership, on surface streets. Owners Manual is missing, so I'm at a loss re the meaning of this ESP/BAS warning light. My guess is that something(s) need to be reset after having been without power. I HOPE THAT'S ALL IT IS!!