[jackb911]

I just did mine in November, and after a ton of research, here is the procedure that worked like a charm for me on the first try: (note: same procedure as the above post)

Once the CE light is cleared the following readiness cycle can be followed to
reset the code or you could drive the car for a while in a variety of situations
that would allow each system to do it's thing:

Start engine, idle cold for approx. 2 min, 10 secs.

Accelerate to 20-30 MPH, Maintain steady speed for approx 3 min, 15 secs.

Accelerate to 40-60 MPH, Maintain steady speed for approx 15 mins.

Decelerate and come to a stop. Idle in gear* for approx 5 mins.

*I don't think you actually have to idle in gear unless you have a Tiptronic...I idled mine in neutral.

It is absolutely essential to keep the RPM's below 3,000 and the MPH below 60 for the duration of this test.

In California, the referee thing seems to be the easiest and most expedient way to go...Unfortunately we don't have that option where I live.