I'm adding all the items you guys have mentioned to a list of things for the mechanic to check when I put the car in the shop later this week. The BAS ESP comes on when I try to accelerate any harder than granny mode. It goes away once the engine is shut off. The CEL is on all the time. The only codes that came up previously had to do with O2 sensors which were replaced in order to pass the California smog test. Thanks for all the ideas so far.