Unrtunately, even if you wait 3 hrs. or so, you will be diluting the 60% of the contaminated fluid left and all the detritus and varnish not on the pan (you are dropping the pan and replacing the filter screen O ring, gasket and one time use bolts, I presume).
If you want to completely change the fluid, look for a mechanical system like that offered by BG or Sun. Otherwise you are just pouring good beer in the toilet before you drink it.
http://www.bgfindashop.com
Many posts from early on in IG, IOM and here to read. Start with all of Q45tech's.
Modified by maxnix at 7:03 AM 5/18/2009