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. (Car was without battery for maybe 1 hour.) Car now starts as usual, but BAS/ESP warning light is now on (and stays 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 warning light. My guess is that something(s) need to be reset after having been without power??