Log into Device with AAA, how do I get right into enable mode?

I am using a Cisco ACS server with an RSA server behind it. When the user is authenticated from the ACS server, I want them to go straight into enable mode, not have to type the enable mode password. What line am I missing?
aaa authentication login ACS group ACS_servers local enable
aaa authorization exec ACS group ACS_servers local
aaa authorization commands 15 ACS group ACS_servers local
aaa accounting commands 1 default start-stop group ACS_servers
aaa accounting commands 15 default start-stop group ACS_servers
line vty 0 5
login authentication ACS
authorization commmands 15 ACS

The configuration in question is for telnet, but I do need to design my new console access connection. Console access would be either remotely or on-site, but I don't feel comfortable giving priv 15 right into it. I plan to use the same authentication method on the console (ACS group 1st, local database 2nd) and will just have to enter the enable password through the console.
One more question on the aaa config, I kept getting this error in the log:
AAA/AUTHOR: config command authorization not enabled
So I added:
aaa authorization config-commands
I don't know if it was needed because I could still execute config-commands, but it kept giving me that warning if I didn't have that line.
Also, do I really need this line if the ACS server is taking care of priv 15 authorization:
aaa authorization commands 15 ACS if-authenticated

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