If your fluid smelled burnt then your gears were getting too hot. Once the heat gets too intense the fluid gets burned and doesn't lubricate well creating even more heat. This is one of the reasons why transmission fluid needs to be changed on regular intervals. If you're lucky then the trans will last a while longer. If you never got a transmission temperature warning light you may be ok. The initial breakdown of the fluid could have been from just not having enough in there, from contamination of the fluid, or from it just being old. Once new fluid is in there, keep checking it for color and smell. You may want to drop the pan and clean out the mesh filter in there too.