In San Rafael, the city's Building Official issues permits to build, alter, repair or demolish a building, and that list doesn't name insulation removal, so it isn't settled whether your job needs one. The Building Official is the one to ask. When a job does need a permit, we pull it through the office that covers your address and set up the inspection, and if it's unclear for yours, I'll find out before we start.
In California, a contractor doing asbestos work on 100 square feet or more needs the C-22 asbestos abatement classification from the state licensing board, or a license whose qualifying person has passed the board's asbestos exam, and must be registered with the state. Where the Bay Area Air District's rule applies, it has to be notified at least 10 business days before that much asbestos comes out, or 72 hours ahead with an added fee for homes of four or fewer units.
Most attics we open here, and in older homes in San Anselmo and Mill Valley, belong to lived-in houses with boxes stored up top and insulation that's packed down over the years. We go through the same steps in every one, looking first and pulling only what has to go.