Your doctor is not responsible. You should go for a supervision even if you feel ok. Do it ASAP because today is a friday. Call a nurse and listen what she would say. Anyway, it is my suggestion. The final decision is yours.
It happened to me when I was 38-week pregnant. The doctor asked me to go to the hospital right away although I felt fine. I was monitored for about 2- hour before released from the hospital.