Service Brake light on 2003 GMC HD 2500 Duramax

I have a 2003 Duramax and the check brake light comes on intermittently at start up. The only way you can get it to shut off is to kill the engine
and restart it. Sometimes it will start beeping again and then sometimes it will start normally with no warning signs on the in dash readout. I have had this truck to the dealer several times only to be told that first of all I wasn't waiting for the glow plug light to go off before starting which I was. This is the 5th Diesel truck I have owned, not to mention I drive a big rig over the road so it was quite an insult to me telling me that I don't let the engine warm up. This problem will happen when it is hot or cold doesn't matter. So now the truck is 2 years old and they are telling me that the software needs an update which they have already done twice to no avail. Now the latest thing the dealer is telling me is that as of present time GM has no fix for this problem!! Has anyone had a similar problem and have you had any luck fixing it? If so please let me know. Thanks
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