One way of doing this is to (assuming you are running BGP with your ISP) run BPG through your PIX in each site. This would dynamically alter your internal routing table to reflect if one of the ISP connections went down. You would also have to ensure that both ISP's are advertising your address space to allow reachability back to you from both. I assume this is already being done if you are able to manually change now.
See the following link for BPG through PIX configuration examples.
http://www.cisco.com/warp/public/459/BGP-PIX.htm
Hope this helps,
Don