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Ideas on Changing Auto Tranny Fluid

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I recently bought a car with an automatic transmission, specific maintenance history unknown. It shifts and runs just fine, 138000 miles, but I like to get maintenance items on "my" schedule. Fluid isn't burnt, but it isn't new. Would you go ahead and drop the pan and do the fluid/filter? Or just suck what I can out of the dipstick and replace that?

At this age, I'm not going to flush it. I don't want to knock stuff loose.

Thanks for any input

(The car is a 2001 Taurus 24V, but I don't want to get into a brand war or reputation dispute etc. It's a farm truck mile-saver)
 
Find the cooler lines from the trans to the radiator. Open them and run the engine at idle. You will need a short piece of hose to aim the oil to your catch pan. Catch the oil, when it stops coming add 4 qts of new oil and run it again. Do this 3 or 4 times and close it up again. Run the engine and add oil to the proper level. This way you will get almost all the old oil out and new oil in. If you drop the pan only you will let most of the old oil in.
 
As a trans tech at a Ford dealer, I endorse the flush procedure. Nothing gets "knocked loose". All that is going on is catching the old stuff as the engine runs and pumping in new. Dropping the pan gets at most 25% of the fluid. The flushing procedure gets 90%+. We do them every day and have never had any negative results. The people who say they have had a bad experience have all been "I heard it"s bad" or "I was told by a friend that he had heard..." but never anyone that can say "Yes, my trans failed". The only thing I can say, is if the fluid is coal black, it"s been slipping and it will die sooner or later. Brown fluid is oxidized and has lost some of it"s lubricating properties.
 
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