Hey there,
It's often hard to be able to say whether it was a MILD or a DILD, because to do so you'd have to know the exact reason why you became lucid.
Now a MILD stands for Mnemonic Induced Lucid Dream. If you were to look up Mnemonic in a dictionary, you will find that the concept in itself does not necessary realy on verbal commands, but generally speaking, with lucid dreamers MILDs stand for lucid dreams in which you strongly imprinted a verbal keyphrase into your mind right before you went to bed. "I will lucid dream tonight" being the most common.
The idea is that this 'last and clear memory" will reach into your dreams, into your subconscious, and trigger a lucid dream. Although with just one dream, it can be very hard to discern whether the lucidity trigger was actually the mnemonic command, or whether it was simply a spontanious lucid dream.
In the end though, it was a lucid dream, that's the most important thing If you feel that what you did helped you get lucid, continue doing it, see if it gets you consistent results. If it does, you can probably say with some certainly that your lucid dreams are mnemonically triggered. Regardless of how they are caused though, make sure you don't forget to enjoy the lucid dream itself 
-Redrivertears-
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