When you open the doors, the DC-DC converter comes on and charges the 12v battery. It would normally time-out at around 15 minutes but if you closed a door and opened it again, the cycle repeats. With the car OFF and not in Drive mode, I can see how doing this over 2hrs could cause the car to trigger that warning, because the HV battery is "charging" the 12v while you are doing this, AND the car is "stopped".
I've noted further up this thread what my 12v battery looked when it was failing. It was self-discharging to 12.0 volts and the DC-DC converter would come on for exactly 1 hour to "boost" the 12v battery. I never got the "Battery Discharging While Stopped" message while this was going on though.