Yes!

You were in sleep paralysis. Apply a separation method next time! Don't be scared, the hallucinations are not real. Some people have them, I do not though (wish I did, it would be cool). Do things like imagining moving your dream body or grabbing a rope you just 'know' will be there. Keeping your eyes closed is never a bad idea if you're scared of hallucinations too.

Be lucky you got to SP, not everyone makes it that far!