method(:sauce12_practice_complete) do

        follow_pipe = sauce12_practice_pipeline

        align_for_goto_buoy = align_and_move(:z => BUOY_SEARCH_Z,
                                             :yaw => PRACTICE_BUOY_SEARCH_YAW)

        buoy = sauce12_practice_buoy

        goto_modem_pos = align_and_move(:speed => MODEM_GOTO_SPEED,
                                        :z => MODEM_WAIT_Z,
                                        :yaw => PRACTICE_MODEM_WAIT_POS_ANGLE,
                                        :duration => MODEM_GOTO_DURATION)

        wait_for_modem_command = simple_move(:z => MODEM_WAIT_Z,
                                             :duration => MODEM_WAIT_FOR_COMMAND_TIME)

        align_to_wall = align_and_move(:z => MODEM_WAIT_Z,
                                       :yaw => PRACTICE_WALL_ALIGNMENT_ANGLE)

        wall = sauce12_practice_wall

        surface = simple_move(:z => 0)

        #nav = navigate(:waypoint => Eigen::Vector3.new(0.0, 0.0, -2.2))

        run = Planning::MissionRun.new(:timeout => 20.0 * 60.0)
        run.design do
            # Define start and end states
            start(follow_pipe)
            finish(surface)
     
            transition(follow_pipe, :success => align_for_goto_buoy, :failed => surface)
            transition(align_for_goto_buoy, :success => buoy, :failed => buoy)
            transition(buoy, :success => goto_modem_pos, :failed => goto_modem_pos)
            transition(goto_modem_pos, :success => wait_for_modem_command, :failed => wait_for_modem_command)
            transition(wait_for_modem_command, :success => align_to_wall, :failed => align_to_wall)  
            transition(align_to_wall, :success => wall, :failed => surface)  
            transition(wall, :success => surface, :failed => surface)    
        end     
     
    end