diff --git a/buoy_gazebo/src/controllers/PowerController/PowerController.cpp b/buoy_gazebo/src/controllers/PowerController/PowerController.cpp
index 6e027b09..83e88f9d 100644
--- a/buoy_gazebo/src/controllers/PowerController/PowerController.cpp
+++ b/buoy_gazebo/src/controllers/PowerController/PowerController.cpp
@@ -131,13 +131,19 @@ const rcl_interfaces::msg::FloatingPointRange PowerControllerServices::valid_win
   .set__from_value(-35.0F)
   .set__to_value(35.0F);
 
-const rclcpp::Duration PowerControllerServices::SCALE_COMMAND_TIMEOUT{300, 0U};
+// never time out on scale
+const rclcpp::Duration PowerControllerServices::SCALE_COMMAND_TIMEOUT{
+  std::numeric_limits<int>::max(),
+  0U};
 const rcl_interfaces::msg::FloatingPointRange PowerControllerServices::valid_scale_range_ =
   rcl_interfaces::msg::FloatingPointRange()
   .set__from_value(0.5F)
   .set__to_value(1.4F);
 
-const rclcpp::Duration PowerControllerServices::RETRACT_COMMAND_TIMEOUT{300, 0U};
+// never time out on retract
+const rclcpp::Duration PowerControllerServices::RETRACT_COMMAND_TIMEOUT{
+  std::numeric_limits<int>::max(),
+  0U};
 const rcl_interfaces::msg::FloatingPointRange PowerControllerServices::valid_retract_range_ =
   rcl_interfaces::msg::FloatingPointRange()
   .set__from_value(0.4F)
diff --git a/buoy_gazebo/worlds/mbari_wec.sdf.em b/buoy_gazebo/worlds/mbari_wec.sdf.em
index 24cf87d1..479f39a9 100644
--- a/buoy_gazebo/worlds/mbari_wec.sdf.em
+++ b/buoy_gazebo/worlds/mbari_wec.sdf.em
@@ -13,10 +13,24 @@ try:
 except NameError:
     physics_rtf = 1.0  # not defined so default
 
+# Check if lat_lon was passed in via empy
+try:
+    lat_lon
+except NameError:
+    lat_lon = [36.743850, -121.876233]  # not defined so default
+
 }@
 <sdf version="1.8">
   <world name="mbari_wec_world">
 
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <world_frame_orientation>ENU</world_frame_orientation>
+      <latitude_deg>@(lat_lon[0])</latitude_deg>
+      <longitude_deg>@(lat_lon[1])</longitude_deg>
+      <elevation>0.0</elevation>
+    </spherical_coordinates>
+
     <physics name="step" type="ignored">
       <max_step_size>@(physics_step)</max_step_size>
       <real_time_factor>@(physics_rtf)</real_time_factor>
diff --git a/buoy_tests/launch/pc_commands_ros_feedback_py.launch.py b/buoy_tests/launch/pc_commands_ros_feedback_py.launch.py
index c86a7a16..6b1ddfb8 100644
--- a/buoy_tests/launch/pc_commands_ros_feedback_py.launch.py
+++ b/buoy_tests/launch/pc_commands_ros_feedback_py.launch.py
@@ -200,12 +200,12 @@ def test_pc_commands_ros(self, gazebo_test_fixture, proc_info):
         retract = 0.75
         self.assertNotEqual(self.node.retract_, retract)
 
-        # Now send scale command
+        # Now send retract command
         self.node.send_pc_retract_command(retract)
         self.assertEqual(self.node.pc_retract_future_.result().result.value,
                          self.node.pc_retract_future_.result().result.OK)
 
-        # Run to let scale process
+        # Run to let retract process
         self.test_helper.run(feedbackCheckIterations)
         self.assertTrue(self.test_helper.run_status)
         self.assertEqual(preCmdIterations + 4 * feedbackCheckIterations,