You were lucky to get home. When the IMA light comes on, followed by the 12V light etc that means the IMA system is failing and not charging your 12V. I have ground to a halt in the past. During this failure I know from experience that if you drive with a feather-light right foot (as if not using the IMA) then you can stay out of trouble and the drain on the 12V could stop. You are also lucky that Honda America have now extended the IMA warranty to 150,000miles / 10 years - you should get a free replacement BCM / MCM and/or IMA battery. HTH.