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We describe an approach for accomplishing the high-level mission planning required for a heterogeneous team of autonomous vehicles performing mine countermeasure (MCM) survey missions in multiple areas. The high-level mission scheduling and waterspace management requires sequencing the order and location of lower-level MCM tasks to be completed by each vehicle in the heterogeneous team: unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs). We propose solving this complex sequencing operation by leveraging unique information processing, communication, refueling, and planning windows that form constraints within the system within a formal scheduling optimization framework known as mixed-integer linear programming. We pose the problem using a mixed-integer linear programming optimization framework, compare several complexity reduction heuristics to the full optimization, and include methods to account for relative uncertainty in the duration of planned tasks in such a manner to balance the risk of schedule slips or conservative and sub-optimal schedule.