`SpaceTimeRegion` problems when changing waypoints after initialisation

[j-atkins]

In class, there were frequent out-of-bounds errors in virtualship run simulations associated with waypoints outside of the SpaceTimeRegion prescribed in expedition.yaml. These can be easily remedied by manually adjusting the space-time region, but would ideally be avoided in the first place.

The issue most likely arises when there are changes to waypoint lat/lons (or new waypoints) after the point of initialising routes from MFP. The virtualship plan tool will automatically update the spatial range component of the SpaceTimeRegion if waypoints are changed to outside the current domain. However, there are no checks for this if directly editing the expedition.yaml.

I see some potential solutions, including:

1. Introduce checks as part of schedule.verify()
2. Remove SpaceTimeRegion entirely. Domain boundaries in the simulation, when streaming data via copernicusmarine, could then be determined from the extremes of the waypoints (+ instrument dependent buffers).
   • This is then also likely more aligned with Parcels v4 integration (Integrate Parcels v4 into VirtualShip #232) where there should be no need for prescribing domain limits.