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D1 is the fault code position. 21 is the main code, 12 the subcode. According to this (http://ww2.justanswer.com/uploads/HE/HeavyEquipmentTech/2013-09-22_223029_allison_transmission_md3060_trouble-shooting.pdf) for WTEC II (same code for III), you've got a Throttle Position Sensor failed or out...
If my experiences with my RV's Allison transmission are similar enough to yours, you might have a sensor-related problem. There's three sensors feeding input into the TCU. If any one of them go wonky, the TCU will "lock" the trans into the lowest normal gear so you can move, but that's all it'll...
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