ESP Warning light on 2002 Mercedes-Benz C240

2001 Mercedes C240. What causes this problem? Can you drive vehicle with ESP light off? Or can you expect to become stranded?

Asked by for the 2002 Mercedes-Benz C240
ESP is Mercedes stability control. It is the car's way of stabilizing itself for safer turning control by using the anti-lock brakes ans electronic suspension controls.
http://www.4x4abc.com/stability-control/esc-description.html
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