I'm guessing that yours is OBD I? My guess is, either you have a loose ground on the MIL lamp, or you have a sensor that is on the verge of going bad. That is, when your engine's RPM's are above idle speed, the sensor reports voltage readings within the normal threshold, but when you go back to idle, the voltage readings fall back outside of the normal threshold and your computer throws a MIL code. I could be wrong, but I don't believe that OBD I computers can "store" codes.
(The above is just my 2 cents. I could be wrong about it, that's what I'm guessing is happening.)
Can't you just complete the circuit under the dashboard at idle and read the code?
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