One panic stop should not be enough to boil the fluid and cause the pedal to drop, unless of course you were coming down a moutain, towing a big load at 80mph. These trucks also have a different system of supplying "boost" for the power brakes than a gas engine truck. I notice a huge difference in brake feel between the Cummins and the Hemi, the Cummins is much firmer.
I am not familiar enough with the diesels system to say whether or not the pedal drop is "normal". It would however be good practice for all of us to flush the fluid every two years. When I was doing Porsche club events, annual flushes were required to pass tech.
There is also a much quicker and less messy way to get it done. Spend $40 on Motive Products power bleeder. It screws right onto the resevoir cap and uses a pressure tank to force the old fluid out and new fluid in. Makes it a clean one man job, and it takes less than an hour once you get the hang of it. It will save on calipers, ABS units, the pump, and help ensure you do not boil the fluid in a panic stop.