It's my understanding the SAFC only displays VTA but having never messed with one I could be wrong.
Since IDL is pulled up internal to the ECU it will be high when the TPS switch is open (throttle off idle, input floating) and low when the switch is closed (throttle on idle, input grounded). The TSRM, at least some I've seen, say IDL will be battery voltage when high while others say it'll be 5 volts. I have never seen one be battery voltage nor, since it's part of the EFI sensor system, does it makes sense it would be.
Put simply it'll be close to 0 volts at idle and 5 volts at all other times. Having never played with it I don't know exactly what level the ECU judges the throttle to be off idle. I'm assuming it's near whatever the 2K ohm max spec on the TPS figures out to be or whatever the "legal" high is for the type of logic involved. Probably around 1.8 volts but it doesn't really matter because of the pull up.
When the TPS is set properly VTA will vary from around 200 mv at idle to appx 3.6 volts at WOT. This is in contrast to the nearly 5 volts the book states.