Don Vandergriff has a nice piece at Small Wars Journal on how Auftragstaktik developed and why.  He makes what to me is an extremely important but generally overlooked point that mission orders, which is how most people explain the term, are not what defines Auftragstaktik but represent evidence that the underlying culture is alive and working.

As a culture, Auftragstaktik implies that those who can influence the organization — top leaders, board members, large shareholders, influential members of Congress, etc. — have given careful thought to and so evolved practices for selecting, training, retaining, and promoting people who embody the philosophy and separating those who do not.

If this happens, what we call “mission orders” (or something, perhaps, even better) will be the natural outcome.

http://smallwarsjournal.com/jrnl/art/how-germans-defined-auftragstaktik-what-mission-command-and-not