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FWIW I got this once, and it went away w/o incident. Totally unrelated to tracking or hard driving - it was just after cold start, and not long after I was off break-in, so little really hard running ever. Scared the hell out of me, but never returned. At the dealership they had warned me that sometimes things just sort of crop up as a glitch, and to trust the system to know if something was really wrong - it will disable full power and keep ringing to stop you from really messing things up.
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