Glad you are going to have it fixed!!With only three days and 500 miles left on the Toyota 5/60k warranty I took it to Toyota and as is usual, I couldn't duplicate the problem. So after having Toyota work on it for the day, I went to pick it up and got it to reoccur before I left the dealership. Toyota checked the code and verified it was a Secondary AIP failure. Good call Black Platinum '10 and Mendonsy. It helps to have a little forum knowledge to keep the BS meter from pegging. Not surprisingly, Toyota has stated that the problem is an expensive fix and they will cover it. Knowledge is power forum members. I just wish Toyota would issue a Technical Service Bulletin and make it right for everyone. Clearly there's a parts quality, or design flaw that needs attention.
Just for the record, Toyota has extended the warranty on the AIP system to 10yr/150k miles on all '07-'10 models. The '11-'13 models will inevitably follow because they have just as many problems.
I just had mine done last week at 82k and 7 years old.