My truck dies when I shift from Drive to Reverse?

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NickW

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Its is a 1991 GMC K1500 EFI 350 5.7l. I let the engine warm up before I drive it. At a stop light in Overdrive it idles around 300-400 RMPs. If it does not die the RPMs drop quickly and lug for a moment. it happens after that transmission has engaged in Reverse
 
It is ticking over too slowly and you need to increase the idle speed to 700-800 revs on the throttle screw after adjusting the mixture first of all.
 
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