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From your description of the behavior, I think the ESC programmation is to blame. There are usually two setting:
1- Low voltage detection threshold: can be set to High, mid, or Low. If it is currently set to high, the batteries voltage drop caused by the high current pulled by the motor will cause an early low voltage detection. (it should be set to low)
2- The Low voltage action: When low voltage is detected (see conditions above), the reaction of the ESC can be set to MOTOR CUT (this is probably what you have now) or to REDUCED POWER (this is what you should have).
Most ESC have these two settings available but each brand name and model have their own list of options and programmation mode. You will need to do a search on the web for how to program your specific ESC (brand and model).
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