If the failure to appear was for two misdemeanors then you may not have to stay overnight if your county jail allows for a booking and immediate release procedure in which you are at the jail for one or two hrs for booking/processing then you get a new court date and are released.
Some counties allow defendants to walk into the court room "off calender" and ask the judge to recall the warrant and set a new court date while the clerk is "on the record" in the courtroom. You can probably arrange this with your PD and the judges assistant and pick a day to "turn yourself in" in the courtroom in order to tell the judge you thought your presence was waived. Its better to do this when your PD is in front of that judge as well so he can explain his/her side. If your PD says you cannot do this then your county probably doesn't allow for that type of procedure as many counties do not allow this. However, it is routinely used in larger counties with heavy caseloads.
I recommend you contact your public defender or a private attorney asap. More likely than not, a bond will be available, but you should consult with your attorney to assist with this matter. You should not have to shell out more money on the bond if this was not a willful failure to appear since you were following the instructions of your attorney. The jail will either attach a bond, release him on pretrial release or you can have your attorney assist in having him released without having to post a bond.
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