First things first, check to make sure you can get the side fill bolt out! I just dealt with this on my W58 trans and had to heat the shit out of it with a torch to get it to break loose! Its also possible that the previous owner filled from the top because he couldn't get the fill plug out! Seems to be more common as these trucks get older too.
Next, pull the bottom drain plug and drain into your catch pan. Its gear oil, so it will take a while to really get it to all drain out, probably about a half hour (yeah, I'm pretty anal about getting the most oil out of the case!).
Pop drain plug back in, make sure you use a new gasket if the existing one looks even remotely bad or scuffed up! This is NOT the plug you want to remove if you used a damaged gasket! They're cheap and easy to find at the parts store.
Now you can fill the side fill hole with gear oil. Any decent GL5 oil around 75-100 weight will work fine, so long as it does NOT have friction modifier in it (I personally use Royal Purple's SyncrhoMax, but its really overkill for my truck)! Again, do NOT use an oil with friction modifier (such as Royal Purple's standard 75W-90 "max gear")! The modifier in the oil will make the synchros in the transmission not work correctly and you'll have a hell of a time getting it into gear! Don't ask me how I know this, just take my advice and don't do it!!!
Fill the trans until it drips slightly out of the hole, that is the proper level, so long as you're on relatively flat ground.
Put plug back in, and just for good measure, use a little anti-seize on the threads. I know that this bolt gets oiled with the gear oil, but it still freezes up, so might as well not take the chance and put some anti-seize on there anyways!
That's pretty much it for a W-series transmission! If I missed anything, I'm sure someone will correct me!