That has happened to me on two occasions with my 08, which has 88,000 miles. I believe in both cases the error did not resolve until the fob was taken out of range. In other words, turning the ignition on and off with the fob in range had no effect but when I turned the ignition off and then walked out of range with the fob in pocket the problem was gone when I returned to the bike and started. So I believe it as to do with a communication error between the fob and KIPASS. And I am pretty sure in both cases that I was sloppy in turning the stove knob. I did not initially turn the knob all they way to the On position, such that it was temporarily in the between position.
I am not making any claims but after the second time I have been careful to be more precise in turning the knob and the problem has not returned. Also both times this occurred I was riding for extended periods in rainy weather.