you wont get the fluid in the torque converter by shoving a tube down the dipstick, nor by dropping the pan. to change the whole system you need to do as jstroud says, set up the hoses at the rad to pump old fluid in a bucket and pull new fluid from another bucket, then start the truck. I cant remember if the return hose will pull suction so you may need to set it up as a big funnel and pour in new as the old gets pumped out. depending on your year, the hoses can be unclipped with a screwdriver, no need to unscrew them. then you use rubber hose to attach to the two lines. you will need about 12 qts to flush completely through the converter.
flushing a trans pulls all the crap in the system through the filter, so you will want to change it too. either have a fresh one in before flushing, or replace it after flushing (and another 5 qts new fluid)
I had an old BMW with a GM auto trans that was notoriously weak, we did flushes and filters every 70k and the trans worked perfectly for more than the 12 years we owned it and 287k. conversely my wifes pilot is a "lifetime fill" and they (honda, also internet forums) do NOT recommend flushing, for a complete fluid replacement you have to drain and precisely measure what comes out, and replace it eaxctly, run it a while, drain and measure and replace, run drain measure replace run drain measure. they recommend using 20qts to do this, it sucks haha.