Okay here I am again. In my 2000 S4 Avant. Having got wheel bearing sorted and run VAG COM I can not see why my ESP light comes on under hard acceleration. Usually in third around 5000rpm but it can happen in 2nd lower down. I have used VAG COM to record wheel speeds and other ABS/ESP sensors all are fine and no fault codes anywhere else. A quick run recording engine values also looked okay. Boost pressure maximun at 1750 ish from a 1010 tickover. MAF peaked at 204 under load 5-6 at tickover. Labdas both peaking at 8-10% Any advice on what I could log and what the values should be to check MAF, etc. Have had a quick go but not sure how to verify that the answers/graphs are good. Car still pulls well. Is it a good idea to try a FATS test with the ESP off? At least I can be confident in the engine then. It looks like I need a trip to a specialist. Can any one recommend the easiest to get to from Weymouth? Thanks in advance.