I think you hit limp mode by starting from a dead stop in other gears instead of 1st. Why I know this? Because it happens to me before, on the G37.
Long story short, backing out of the parking lot, I accidentally put the car in 6th gear instead of reverse (stupid me, I thought I pressed down enough on the shifter to get over to reverse. Fist time driving the G37 doesn't help.) It made the same sound as you describe. I noticed it right away and put it back in reverse. After, I could not get the rpm over 2.5k no matter what gear I was in. This scared me. I turned it off and start right back up again, but that didn't help. So, I turned it off and left it off for a little longer, then turned it back on again. Problem solved.
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