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Sounds like a P-Pumped truck to me, and also like idle speed adjusted too low.
Can you keep it alive at about 600-700 rpm with the pedal?
If yes adjust idle by applying wide open throttle (engine stopped!), loosen locknut, turn out low idle adjustment screw 1/4 turn and set locknut. Release go pedal and start engine- check for correct idle speed, auto in drive, AC on!
I hope you have a p-pump truck, and I second Oliver's notion that you should give more info about your truck to get the appropriate help.
Good info AlpineRAM....but this guy posted a question in the HELP section, then after just a few minutes of it not being answered [at 3 AM no less] has not been back to look for answers about a week later...
If we only could have, not only guessed what his year / style of Cummins motor he is working on, but solved the problem in under 5 minutes...