Move the gear selector from Park to Drive and Reverse, leaving it in each gear for 5 seconds. This will suck the fluid up into the transmission. You'll need to monitor the fluid temperature and keep filling. The transmission is fully filled when fluid starts pouring out of the fill hole and the temperature reaches 40 Celsius (104 F) .

The automatic transmission fluid is normally filled with lifetime fluid. However, BMW does not define what the lifetime is. Therefore, it is a good idea to service you fluid every 60,000 miles. If you're unsure of the last service, replace the fluid as soon as possible. Doing so will extend the life of your transmission.
The only way to change fluid is to drop the pan, replace the filter then refill using the temperature/level adjustment method. At most all you can replace is 3.5 liters. I recomend changing the fluid and filter every 100,000 miles based on the fluid analysis I have seen.
The #1 benefit of a fluid flush, versus just a standard fluid/filter change is that nearly all the fluid (normally between 10 and 12 quarts) is flushed from the transmission and replaced with clean fresh fluid.
8. Remove transmission oil pan and drain, clean pan and replace the transmission filter. 9. Fill the transmission with 6 quarts of DEXRON VI Transmission Fluid. 10. Set the fluid level following published Service Information. Service Procedure Vehicles Equipped with a Fluid Fill Tube Note: Refer to TSB 21-NA-199 to verify in the Thermal 1. Bring the transmission up to normal operating temperature (the radiator fan comes on). 2. Park the vehicle on level ground, and turn the engine off. 3. Remove the drain plug (A), and drain the automatic transmission fluid (ATF). Then reinstall the drain plug with a new sealing washer (B).
Use only Honda ATF-Z1 automatic transmission fluid! This can be purchased at any Honda dealer for about $7-9/quart or online. Check ebay for 12-quart cases. These instructions MIGHT be transferable to other Honda vehicles with automatic transmissions. Check your owner's manual for how much fluid to drain and replace.
If you have not poured in any new ATF yet, then pour in 7 quarts of new ATF, for a total of 7 quarts so far. 7. Repeat steps 6a and 6c until you have poured in a total of 19 quarts of new ATF (7 + 6 + 6). 8. Remove the clear line and reconnect the cooler line to the transmission with 20 lb/ft torque. 9.
The debate about transmission fluid change revolves around a basic problem. Typically, a transmission pan drop & fluid change only changes about half the fluid. The fresh fluid effectively cleans the transmission and releases particles of old build-up, which circulates throughout the transmission, leading to slipping gears, pressure drops
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    • how much to change automatic transmission fluid