That happened to me one time. It was shifting just fine then all of a sudden it jerked a bit then the light flashed. I got scared and pulled over, opened the hood and there was trans fluid seeping from the vent on top of the tranny. I checked the fluid and it was down. I added more and then it was fine. I later had the fluid changed, replaced the tranny cover with fords transmission vent replacement kit, and added a bottle of high mileage transmission fluid additive. It has been fine ever since. The kit comes with a new cover and a hose that attaches to the cover where the vent used to be. You run the hose up to the battery area and it is susposed to "fix" the problem. Why it happend I have no idea. Mabey if was hot, there was a fluid blockage/backup?, I dont know. Good Luck.
Travis
96 Contour 4Cyl