Bedwetting Support Group
Bedwetting (or nocturnal enuresis or sleepwetting) is involuntary urination while asleep. It is the normal state of affairs in infancy, but can be a source of embarrassment when it persists into school age or the teen or adult years. Find others who are coping with a bedwetting problem and share your experiences and questions.
Also, you could have some sort of infection or maybe there's something wrong with your prostate. Prostate problems, such as enlarged prostate or prostate cancer, usually occur around your age. Of course this doesn't apply to every man, but if you're very worried and this happens again, you might have no choice but to see a doctor.
Source: http://www.nationalincontinence.com/s/common-reasons-for-mens-incontinence
As I stated above, I was in a panic when I posted here. I think perhaps it was just sheer exhaustion that kept me from waking up when my bladder was full. It has not happened again.
It's true that almost any of the possible underlying causes we mentioned (diabetes, kidney problems, prostate, etc.) will almost certainly have other symptoms besides bedwetting, if any of them is really going on. So if this only happens to you sporadically (even if it were to happen again a handful of times in the future) and you otherwise feel healthy and have no other symptoms, there's probably no need to go to the doctor for just this. Going to the doctor can help calm you down if you're feeling excessively panicked at any point, though. :)