Efficient preparation and detection of the motional state of trapped ions is important in many experiments ranging from quantum computation to precision spectroscopy. We investigate the stimulated Raman adiabatic passage (STIRAP) technique for the manipulation of motional states in a trapped ion system. The presented technique uses a Raman coupling between two hyperfine ground states in 25Mg+, implemented with delayed pulses, which removes a single phonon independent of the initial motional state. We show that for a thermal probability distribution of motional states the STIRAP population transfer is more efficient than a stimulated Raman Rabi pulse on a motional sideband. In contrast to previous implementations, a large detuning of more than 200 times the natural linewidth of the transition is used. This approach renders STIRAP suitable for atoms in which resonant laser fields would populate nearby fluorescing excited states and thus impede the STIRAP process. We use the technique to measure the wavefunction overlap of excited motional states with the motional ground state. This is an important application for force sensing applications using trapped ions, such as photon recoil spectroscopy, in which the signal is proportional to the depletion of motional ground state population. Furthermore, a determination of the ground state population enables a simple measurement of the ion's temperature.