Move initiate and initialize state to a transition

[andchiind]

Describe the improvement you would like to see
We currently have an initiate state since we want to check that we can successfully start a mission before moving to monitor. Using conditional transitions, this check can be done in the transition between idle and monitor, removing the need for the inbetween states. This will move us towards the goal of not doing state changes inside states themselves, so that states merely receive events and the transitions perform the changes themselves.

How will this change existing functionality?
It will simplify the state machine architecture.

How will this improvement affect the current Threat Model?
N/A