Here's what I found via Google and a Miata forum and it did the trick!
Here is a Mazda drive cycle:
Pre-requisites: MIL off and no DTCs present (this is where clearing your codes comes in); fuel level between 15 and 85%; all accessories OFF; cold start (preferred 8 hour cold soak w/ engine between 68 and 86 deg F at start-up)
1) Start vehicle and idle 5 min.
2) Rev engine in neutral or park to 2300-2700 rpm for 15 seconds
3)Rev engine in neutral or park to 3800-4200 rpm for 15 seconds
4)Idle engine for 20 seconds with cooling fan stopped.
5)Accelerate to 52-55 mph, maintain speed (in high gear) for 1 1/2 minutes
6) Decelerate to 15 mph, and then drive for 13 minutes at speeds ranging from 15 to 35 mph
7) maintain steady 25 mph for 50 seconds.
Each step of the drive cycle indicates a test for a different monitor on the vehicle (catalyst, o2 sensor, evap, etc) so each step is important. Some vehicles are a pain and may require a few drive cycles.
