mazda 6 slipping transmission please help

Hi this is my first post but I have mazda 6 4 cylinder it's a 2003 and the transmission is slipping like crazy I am getting an incorrect gear ratio 3 and transmission solenoid D error. I cannot find anything about a solenoid d anywhere on the web . I can only reach 20 mph in automatic mode and 40 mph in autostick mode and only reaches second gear doesn't engage in 3rd or 4th just revs up as of it were in nuetral I would be greatful for any help at all thanks in advance .
 
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