Question: How long was Margaret Stanley, Countess of Derby's father's family seated at Skipton Castle?

Context paragraphs:
Skipton Castle: Skipton Castle is a medieval castle in Skipton, North Yorkshire, England.  It was built in 1090 by Robert de Romille, a Norman baron, and has been preserved for over 900 years.

Robert de Romille: Robert de Romille (also de Rumilly) was an adventurer from Brittany who joined the Normans in their Conquest of Britain.  After 1086 King William I made him lord of the estates of Bolton Abbey.  Romille built the first Skipton Castle in 1090 to repel the expansions of Malcolm III of Scotland.  In 1102 Romille's lands were greatly increased by Henry I of England to include all of upper Wharfedale and upper Airedale.  His male line died out before 1310; but by his daughters he has many descendants today.

Henry Clifford, 10th Baron de Clifford: Henry Clifford, 10th Baron de Clifford, also 10th feudal baron of Skipton (ca. 1454 – 23 April 1523) was a member of the Clifford family which was seared at Skipton Castle from 1310 to 1676.  He was one of the chief commanders in the Battle of Flodden against the Scots in 1513.  He is the subject of the opera "Henry Clifford" by Isaac Albéniz.

Courtenay of Tremere: The Courtenay family of Tremere (now Tremore in the parish of Lanivet, Cornwall) was a cadet line of the prominent Courtenay family seated at Powderham in Devon, itself a cadet line of the Courtenay Earls of Devon of Tiverton Castle, feudal barons of Plympton and feudal barons of Okehampton.

Thanet Canal: The Thanet Canal is a short branch of the Leeds and Liverpool Canal, which leaves the main canal in Skipton, and runs to some loading wharfs near Skipton Castle, which were used to load limestone from local quarries into boats for onward shipment.  It was opened in 1773, and extended in 1794.  It is sometimes called the Springs Branch.

Margaret Clifford, Countess of Derby: Margaret Stanley, Countess of Derby (née Lady Margaret Clifford; 1540 – 28 September 1596) was the only surviving daughter of Henry Clifford, 2nd Earl of Cumberland and Lady Eleanor Brandon.  Her maternal grandparents were Charles Brandon, 1st Duke of Suffolk and Mary Tudor, Queen of France.  Mary was the third daughter of King Henry VII of England and Elizabeth of York.

Berislavići Vrhrički: The Berislavić family of Vrh Rike (Croatian: Berislavići Vrhrički , also known as Berislavići Malomlački), was a Croatian noble family, a cadet branch of the Čubranić family seated in Vrh Rike.  They are considered to be of White Wallachian descent, and climbed to the lesser nobility rank.

Henry Clifford, 1st Earl of Cumberland: Henry Clifford, 1st Earl of Cumberland KG (1493 – 22 April 1542) was a member of the Clifford family which was seated at Skipton Castle, Yorkshire from 1310 to 1676.  He was a close friend of King Henry VIII.

Skipton Wood: Skipton Wood (also known as Skipton Castle Woods, Castle Wood or Springs Wood) is a 36 acre wood following the valley of Eller Beck to the north of Skipton behind Skipton Castle in North Yorkshire, England.  The wood is owned by Skipton Castle but has been leased to the Woodland Trust.

Henry Clifford, 2nd Earl of Cumberland: Henry Clifford, 2nd Earl of Cumberland (1517 – January 1570) was a member of the Clifford family, seated at Skipton Castle from 1310 to 1676.  His wife was Lady Eleanor Brandon, a niece of King Henry VIII.

Supporting paragraphs: Margaret Clifford, Countess of Derby Henry Clifford, 2nd Earl of Cumberland
Answer: from 1310 to 1676