Check your brake fluid level in the reservoir. Pretty sure that light comes on when it's low. If your pads are very, very warn, and the fluid level is on the limit, may be enough to trigger the light when you depress the pedal.
Zip
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2002 D2 S8: Ebony Black over Platinum. A8L Comfort front seats in black (  ), heated rear seats, extended Leather Pack 3, blinds, glass sunroof, MFSW, Dension Gateway 100 for iPod, ski-hatch, xenon plus, auto dimming mirrors, 20" FE wheels, billet aluminium 'brake block', gunmetal Brembo calipers 
2005 B6 S4 Cabriolet: Ebony Black Pearl over Silver. RNS-E, Bose, heated seats, cruise control, retrofit aux-in, centre armrest, Milltek resonated exhaust
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