You can supposedly clear the memory by doing what they call a "Vishnu Reset". Disconnected the battery, then hop in the vehicle and depress the brake pedal 10 - 20 times. (This should discharge any residual power in the system.) Finally, reconnect the battery.
Disclaimer: I haven't tried this with my Rav4, but it worked for my Legacy GT and I would think that it should work in this case too.
2007 Flint Micah Rav4 Sport 4x4, i4
1999 Land Rover Discovery II
2006 Subaru Legacy GT Ltd (Sold) :-(
1998 Subaru Outback Sport