In all likelihood, you have a bad Ox sensor, although it could be anything that affects the check engine, including loose gas cap, overfilling the tank, etc. The VSC light comes on automatically with the CE light. Mine have gone off 3 times in 7,000 on a 2007. It's at the dealer now, awaiting parts. 16,500 is well within the mileage limit for standard warranty - but is your model year really 1999?