First off park it. Theres no way in hell id drive it. You could potentially damage the engine if you keep driving. Theres a recent thread in here that JLOBO put up. He gutted his cats and sent his ECU to get reprogrammed and thats what i plan on doin if i ever have to. From what ive been seeing its the most inexpensive way to fix this issue. This really sucks that at 20,000 miles this fails. Its bull