Transmission goes into R and D (roughly), but won't shift out of 1st gear
 

Monday I drove my 2005 CLK500 home and backed into the driveway without any problem.

Tuesday I started it and put it in D. It went into Drive with a very firm thud (like the idle was too high) I pulled out of the driveway and started to drive away. The transmission wouldn't shift out of 1st gear. I noticed, on the dash, the gear indicator and the C/S mode indicator was blank.

I turned around and drove back and backed into the driveway. It went into reverse (with the same thud) and was able to back into the parking space.

I have a GearWrench BT bi-directional scanner and did a scan. I have a couple of known faults (seat heater 9032, HVAC damper B100 error) but I do not see any transmission related codes.

Does anyone have experience with this problem?