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I have a 2001 Sonata. Mine did the same thing but a little different. I bet you anything its a senser. Get it read at an autoparts store. I had two sensors go out and throw the car off whack with the "check engine" light on.
Whenever the 'CHECK ENGINE' light comes on, the ECU (Engine Control Unit) sets a Diagnostic Trouble Code (DTC). These codes identify the particular engine management system which caused the light to come on. You'll need to use/find an OBDII (On-Board Diagnostic) Scanner to retrieve any code which have been stored in the ECU computer. Afterward, we might be able to help you DIAGNOSE the problem and perhaps eventually fix the problem.
Yeah.. I have ideas.. .what you observe is normal. The 'check engine' light always comes on initially (until the engine is started) to verify the bulb is good. After the engine starts (and there's no problem with the power train, this light turns off (unless there's a problem, if such a problem exists, the check engine light will come back on).
Loose wire connections must be checked first.
Here is the simple way to check if the battery is discharged: Turn the ignition on, with the engine off, switch the windshield wipers on. If they move way too slowly, much slower than usual, the battery is probably discharged. As the battery is relatively new, it can be recharged. All you need to do is to boost your car and let the engine run for a while to charge the battery