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RK Phase linkages (#139)

* Fixed a derivative error in RungeKuttaStateContinuityComp, the partial of the residual of the first state in forward time_direction was incorrect.
The res_ref of the state in the RungeKuttaStateContinuityComp is now set to the state's defect_ref or 1/defect_scaler.
Found a possible issue with simul coloring to be examined.

* Changed state option time_direction to propagation, still takes values 'forward' or 'backward'.
Provide two tests of constraint-based phase linkages involving RungeKuttaPhase as a test.
Fixed derivative error in RungeKuttaStateContinuityComp.

* Added use_tempdirs decorator for parallel testing purposes.  Runs each test in its own temporary subdirectory to avoid I/O collisions when using parallel testing.

* Adds SLSQP fallback to two burn orbit raise linkage tests, with looser tolerances for SLSQP

* fixed tests for continuity comp to include defect_scaler/defect_ref

* RKPhases can now simulate vector states correctly, but the lack of boundary constraints on vectors means we cannot yet fully test optimized problems.  Removes time_direction/propagation options from states.

* Moved NewtonSolver to the top level of RungeKuttaPhase so that its options may be more easily set.

RungeKuttaPhase NewtonSolver now has BoundsEnforceLS by default, and respects state lower/upper bounds.
**NOTE** that this has different behavior than the optimizer solved pseusospectral phases!  Path constraints
on states in RungeKuttaPhase should not be solved with lower/upper bounds on the states.

Removed continuity_solver/continuity_solver_options from RungeKutta phase and relevant components.

* added connected_initial functionality to RungeKuttaPhase

* Fixed RK continuity tests.  Fixed use_tempdirs test decorator.

* branching battery simulation implemented with RK with constrained and connected phase linkages

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Source Files on job 350.2 (PY=3.6 UPLOAD_DOCS=1)