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Timeseries output (#118)

* Replaced get_values functionality in phases with a timeseries output.

This makes timeseries outputs from a phase a full-fledged OpenMDAO output that can be used by other components in a model.  Currently this provides outputs for the psuedospectral phases at `all` nodes.  In the future the timeseries output will provide interpolation onto a user-prescribed set of nodes within the phase.

* Revamped simulate

Simulation is now performed by SimulationPhase.  While not a full blown phase class (it doesn't support optimization), it can use OpenMDAOs functionality for recording rather than the convoluted system Dymos used previously.

Trajectories likewise have corresponding SimulationTrajectory object that contains one or more SimulationPhase objects.  It can also record data using OpenMDAOs functionality.

Simulate now relies on the newer scipy function `solve_ivp`.

* Found a bug in the continuity component that was causing control continuity to not be respected in `radau-ps` phases.

* Added an Akima-spline based atmosphere component that can provide derivatives of density wrt altitude.  It also provides viscosity as a function of altitude.

* Removed previous atmosphere model `StandardAtmosphereGroup`.

* Removed specification of `assembled_jac_type='csc'`  and `assemble_jac=True` in the examples, since it is now the default.

* Bump version: 0.11.1 → 0.12.0 in preparation of new release.

11453 of 12457 relevant lines covered (91.94%)

0.92 hits per line

Source Files on job 307.1 (PY=2.7)