Amniotic Fluid leaking???

35 weeks today, was taking a nap, got up to pee and when I stood up to wipe a small gush of fluid fell onto my hand, I initially thought it was just pee but I smelled it and wiped it with toilet paper and it was clear, warm and odorless. I called the midwife on duty and they told me to put on a pad and lay down for 30 mins then monitor any leakage. I knew by reading that on here that what they would say. I had a mild freak out because I’m worried about my baby and almost immediately he started doing somersaults as if to let me know he is ok. I’m a little crampy but not in any pain. Has anybody had this happen and gone on to deliver full term? I’ve been concerned about the wetness in my panties for a few weeks but never had anything like this. I haven’t gained much weight my whole pregnancy so now I’m freaking that maybe I don’t have enough fluid as they haven’t checked that since my 20 week ultrasound. Ive been measuring fine at my appointments though. 😩