Modified to specify simulation start time as a constant.
Modified to specify simulation start time as a constant.

billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake