if you have only just started noticing it, it may be that your gauge hasn't been working properly till now.
the vacuum is caused by the butterfly in the throttle body being shut, like holding your hand over the end of a vacuum cleaner, therefore it creates a vacuum in the manifold. as you open the throttle the vacuum gets less and less until you have the throttle open enough where the engine can suck in as much air as it is using (0 vacuum pressue).
that is a basic rundown on what happens.