I'm thinking it was a bump fire, caused by squeezing the trigger.
I've done the same with M4s, M16A2s, AR15s, and SKSs. It always happened in situations where I had a relaxed grip on the rifle, but was using a rest, and had my right arm supported in some way (right handed). Combine that with a slow squeeze of the trigger, and you can get some interesting bump fires.
You get some flack from military ROs when you go "Full Auto" at the range, during a semi-auto qualification... until you point to the selector switch in the SA position.
And, you get some really funky looks at a civilian range, when you go "Full Auto" with an SKS. Eight rounds was the most I ever "dumped" into the target, and every person on that range was staring at me while I reloaded (I knew what happened, and didn't bother function checking for the "malfunction").
Biggest things to pay attention to:
Use a firmer grip on the rifle. (Particularly your trigger hand. - Don't "kill" it, just take up the slack, so your hand can't bounce around on the grip.)
Get the stock up against your shoulder.