chad,
yes there is a service manual on this truck but i'm not at liberty to give that out, sorry.
if you check the switches on the hydraulic control valve on the 3rd and 4th spools you will find one of those most likely out of adjustment, check the last function switch, this is aux2 i believe.

When the truck does its self check on start-up it is detecting a problem with one of those switches probably being closed during the check. If this is the case the truck will not pass the start-up check and code out the code 10 and prevent the truck from starting up.