I had the same thing happen to us. I normally just run the heat on "vent" and use the temp control to increase the heat. This time I decided to use "heat" and "floor" mode and over time got a very strong possibly antifreeze type smell. I actually pulled over to make sure nothing was burning. It seemed to clear up after a while, but it was so acrid that it was hard not to smell.
I tried to duplicate the issue the follwing week, running the heat on those settings, and could let a little residual faint smell, but nothing close to the way it was the first time.
I described the issue to an auto tech that comes into the store where I worked and he said its possible there was some condensation in the ductwork and it may have evaporated. It's a 2013 Greyhawk 31FK with about 22K miles, Ford V10 Triton. We've had it about 3 years. Up to then I had never run it on those settings and the smell seemed to come from the lower vent outlets. There were no alarms or unusual readings on any of the dash gauges. I have not been able to make it happen again on several trips.