1. A system comprising: a first control level having at least one level-1 controller for moving through a sequence of first level states, the first control level generating a first level command associated with one of the first level states; and a second control level having a level-2 controller for moving through a sequence of second level states in response to the first level command and for sending a status report to the first control level when a level-2 condition that is defined in one of the second level states is fulfilled.