I replaced the starter. Disconected the battery

definately bad turmanl connection, unhook batt and clean conections with baking soda mixed with water,dab on and let it go for aprox 5 min then rince with water and repeat (most cases two times),reconect and start.
if this dose not work you need new turmanls.

Could still be your starter relay or starter itself. Turn your headlights on and then crank. Do headlights dim greatly when cranking?

I think that you have a defective starter solenoid, this the part that is mounted to the top of the starter.

These cars have a tricky ANTITHEFT SECURITY system. When they recieve no voltage or low voltage, they consider this a threat and lock you from starting the vehicle. I'm sure it has probably reset by now, but here is a link to help if it happens again.

http://vatspasslockpasskeysecurityhelp.yolasite.com/

REPLACE BATTERY CABLES THE POSITIVE BATTERY CABLE COULD BE SHORTING TO GROUND.REPLACE STARTER SOLENOID IF NOT BEEN REPLACED.BESURE TO PLACE BACK FLEXIBLE CONDUIT THAT GOES AROUND POSITIVE BATTERY KEEP FROM SHORTING TO GROUND. LAST TIME I SEEN BATTERY CABLES OVER HEAT WAS EITHER STARTER AND SOLENOID SHORTING OUT OR VERY LOOSE BATTERY CABLES CONNECTIONS. REPLACE BATTERY CABLES IF THEY ARE MELTED HAVE STARTER CHECKED OUT YOU COULD HAVE FAULTY STARTER STILL.

TURN OFF RADIO FIRST TO KEEP FROM LOCKING IT OUT WHEN YOU DISCONNECT NEGATIVE BATTERY CABLE. SOUND LIKE WEAK BATTERY OR STARTER MAKE SURE BATTERY CABLES CLEAN AND TIGHT.IF BATTERY GOOD REPLACE BATTERY CABLES.CHECK STARTER MAKE SURE STARTER SOLENOID AND STARTER OKAY.YOU CAN HAVE THEM TESTED AT AUTO PARTS STORE OR USE A REMOTE SWITCH.REMOVE STARTER FROM VECHICLE USE JUMPER CABLES.HOOK NEGATIVE GROUND CABLE TO BATTERY NEGATIVE THEN GROUND STARTER BODY WITH NEGATIVE BATTERY JUMPER CABLES HOOK POSITIVE JUMPER CABLE TO BATTERY POSITIVE AND STARTER POSITIVE TERMINAL.THEN HOOK REMOTE SWITCH TO STARTER STARTER SWITCH AND OTHER REMOTE WIRE TO STARTER POSITIVE TERMINAL.PRESS REMOTE STARTER WILL SPIN IF GOOD.MAKE SURE INJECTION PUMP STATIC AND DYNAMIC IS TIMING CORRECT BEFORE STARTING TRUCK.

either bad connection to the starter solenoid 1 starter solenoid itself going bad 2 the positive battery cable going to the starter from the battery needs replacement.
solutions check fuse for starter, replace positive battery cable, replace starter

I can't say for sure but it sound like you either trigger the "Panic" button or alarm system if equiped. Hook the battery up (negative last) and push the "Panic" button on the key FOB.
If you don't have the FOB you may be able to reset but disconnecting the negative cable only.
If it's an alarm system, locking and then unlocking with the FOB should reset it, also using the key to turn on the ignition is supposed to reset it.

REMOVAL

1. Disconnect the battery ground cable.
2. Raise and support the vehicle.
3. Disconnect starter cable and push-on connector from starter solenoid. CAUTION: When disconnecting hard-shell connector at S terminal, grasp the plastic shell and pull off. Do not pull on wire. Be careful to pull straight off to prevent damage to the connector and S terminal. If any part of the connection is damaged, replace the damaged components.
4. Remove upper bolt.
5. Remove lower bolt.
6. Remove the starter motor from the vehicle.

INSTALLATION

1. Position starter motor to engine and install upper and lower bolt finger-tight.
2. Tighten the upper bolt to 22-28 Nm (16-21 Lb-Ft) .
3. Tighten the lower bolt to 22-28 Nm (16-21 Lb-Ft) .
4. Connect connector on starter solenoid. Be careful to push straight on and make sure connector locks in position with a notable click or detent.
5. Install starter cable nut to terminal. Tighten to 11-13 Nm (91-122 Lb-In) .
6. Replace red safety cap.
7. Lower vehicle to floor.
8. Connect battery ground cable. NOTE: When the Powertrain Control Module (PCM) is disconnected and reconnected, some abnormal drive symptoms may occur while the powertrain control module relearns its adaptive strategy. The vehicle may need to be driven 16 km (10 miles) or more to relearn the strategy.

clean battery cables and make sure they are good and tight.