A work vehicle may include an internal combustion engine, aftertreatment system, and at least one controller. The controller is configured to use a temperature of the aftertreatment system to determine a hydrocarbon level of the aftertreatment system, and set an idle speed of the engine to high idle if the hydrocarbon level is above a hydrocarbon ceiling, to ultra-low idle if the hydrocarbon level is below a hydrocarbon floor, and to low idle if the hydrocarbon level is between the hydrocarbon floor and the hydrocarbon ceiling.