Nothing is wrong — your MBP is operating as it's designed to do.
When your activity on the machine demands more than the 85W of power that the AC adapter can provide, the battery is drawn upon for the difference. Because the AC adapter is providing most of the necessary power, the battery doesn't drain nearly as fast as it would without the adapter connected, but it does drain.
You can reduce your chances of running into this by disconnecting all peripherals that draw their power from the computer, dimming the screen backlight as much as possible (reducing the ambient light level in your workspace will make this more tolerable), turning off keyboard backlighting, turning off Bluetooth and Airport if they're not in use, quitting all nonessential CPU- and GPU-intensive processes, and using the integrated GPU instead of the discrete one on a MBP that has both, if the integrated GPU is up to the task at hand. These steps will minimize the consumption of power for tasks other than the primary one.
You may well wonder why Apple didn't provide a higher-output AC adapter. Only Apple could answer that, and Apple hasn't. My guess is that pumping enough AC power into the machine to enable it to run flat out and charge its battery at the same time would generate too much heat for its cooling system to dissipate effectively.
Afterthought: in your MBP, the ambient light sensor is not behind the speaker grilles. It's 5mm to the left of the iSight camera lens in the top of the display bezel. This has nothing to do with your problem, but its location was misstated in one of the previous responses.