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There's a drain plug on the bottom of the transmission (no pan or filter). Drain it out, fill it back up (3-5 quarts), run the engine a minute, repeat twice more. You'll end up with about 3/4 new fluid.
or
Pump and dump
Disconnect return line from cooler and point into 5 gallon bucket. Run engine at idle until air starts to come out and cut engine. Refill transmission. Repeat once. Reconnect line and check fluid level.
If you drive onto some ramps for clearance, and remove the plug, be prepared to catch 6 quarts. If you drain it cold, you'll get more fluid to replace. Capacity per manual is 10.2 quarts. If the fluid is not in bad condition, i.e., smelly and burned/black, changing 60% a few times will be pretty good preventive maintenance.
tom