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Yesterday i was cleaning out my car, and accidently hit the dimming switch up too much, turning on the interior lights. I didn't relise this untill i tried to start the car hours later. I used a charger(not another car), and it almost started right up with no problem. I drove it around, no problem getting 14.5 volts on the DIC.
This morning it wouldn't start again... The lights all came on, but it just barely wound't turn over. Its out charging again. There wasn't anything on in the car the whole night.
Most of the time when a weak battery is ran down, they will never reach full charge again. It probably wouldn't hurt to replace the battery, it beats getting stranded.
You might not have fully charged the battery (you didn't say how long of a drive, highway? A/C on? ). How old is the battery? I would trickle charge all night to make sure.
Leaving the lights on once won't ruin a battery unless it was weak in the first place.
I have re-vived batteries by trickle charging every night, drive during the day. Just depends on the age and condition of the internal plates (sulfation).
The only bad thing that happens with car batteries when they are deep discharged and then charged up is a slight loss in amp hour capacity. Driving your car for a half hour will not charge the battery all the way up. You need to leave the battery charger on the battery for several days and if you drive it , charge it overnight for several days. It sounds to me that you merely have a discharged battery. I would also remove the cables and clean them and the battery posts.