Factory security system is stuck in the theft mode 1999 Niss

I own a 1999 Nissan Maxima with 136,000 miles on it. My security system is stuck in the theft mode. Is there any way to bypass it? If not I am looking at a $100 tow fee to the nissan dealership and a $135 for nissan to reprogram the system. I have tried putting the key in the door and turned it left and then to the right. That hasn't fixed the problem. I don't have a remote for the car. Please help me, my wife is driving me crazy. She wants her car back.
Try to turn the key to on position then disconnect the battery while leaving the key in the on position. Leave battery unhooked for about 10 min or so. Then reconnect the battery. Cycle key off then on then off then try to start. This works on some cars.