I had this same concern about a previous Challenger's compressor operation, and I posted a similar question up on the CT site to clear up the what/why/whens of the situation. I don't remember the exact response, but basically it was explained that some a/c systems will require the compressor to stay running almost all the time. For those, the behavior you observe is okay. For the others, where it kicks on and off at varying intervals, the behavior you observe would NOT necessarily be okay.
If I'm not mistaken, I am pretty sure the Dodge a/c system in your truck (the 2007 diesel) should cycle on and pretty much stay on until there is a reason that the computer should command it to turn off (evaporator is freezing up, pressure too high) or the car ignition is turned off. If that is the case, your truck's behavior seems to be normal.
I can remember the kind of system that would always cycle on and off, and I think that is a design from the past which is slowly being phased out. But I could certainly be mistaken there. If I am wrong on any of this, I hope someone will chime in and correct me so we can all be on the same page!