Hi.
I had a problem similar to this - unfortunately for me they could not rectify the fault as it has never happened again - BUT i notice it happens when I drive through puddles especially with the rain.
In the meantime here is an extract that might help.
Diagnostics
While the ignition is on, the EAT ECU diagnoses the system for faults. The extent of the diagnostic capability at any particular time depends on the prevailing operating conditions, e.g. it is not possible to check torque converter lock-up while the vehicle is stationary, or to check for a short ircuit to earth if the circuit concerned is already at a low potential.
If a fault is detected, the EAT ECU immediately stores a fault code and the values of three operating parameters associated with the fault. Depending on the fault, there are four possible effects:
The fault has little effect on gearbox operation or vehicle emissions. The driver will probably not notice any change and the warning lamps remain extinguished.
The fault has little effect on gearbox operation but may effect vehicle emissions. On NAS vehicles, if the fault is detected on a second consecutive drive cycle, the MIL illuminates.
All gears are available but kickdown does not function. The sport and manual warning lamps flash. The MIL remains extinguished.
Limp home mode is selected and vehicle performance is greatly reduced. The sport and manual warning lamps flash. In all markets, if the fault is detected on a second consecutive drive cycle, the MIL illuminates.
After the detection of a fault, the effects remain active for the remainder of the drive cycle. In subsequent drive cycles, as soon as the EAT ECU diagnoses the fault is no longer present, it resumes normal control of the gearbox. The conditions required to diagnose that the fault is no longer present depend on the fault. Some faults require the engine to be started, others require only that the ignition is switched on.
After a fault has not recurred for forty warm-up cycles, the fault is deleted from the EAT ECU memory. Only five different faults can be stored in the memory at any one time. If a further fault occurs, the fault with the lowest priority will be replaced by the new fault.
Mechanical limp home
In the mechanical limp home mode, gear engagement is controlled by the manual valve. The gearbox is fixed in 4th gear if the fault occurs while the vehicle is moving, or 3rd gear if the fault occurs while the vehicle is stationary. 3rd gear is also engaged if a vehicle is brought to a stop and the selector lever is moved out of, and back into, D. Neutral and reverse gear are also available.
Hope this help
Nik