vdc off light is on. Slip indicator light on. ABS is loud when activated. on 2009 Nissan Maxima

ABS makes a unusually loud noise when activated in slippery conditions. VDC light is on. Slip indicator light is on. Brake pedal pulses more than usual when abs is activated. Indicator lights are not on initially, then come on after car is driven a short distance. What is the problem? What will the repair cost?

Asked by for the 2009 Nissan Maxima
normal operation...
Does not seem to be normal to me. More abrupt, louder and lower frequency than normal. Passengers in my car were alarmed at the symtoms.