Question is - does the main rocket motor ignite right afterwards?
If you've watched the videos of an SM-2/3/6 launch there is a very small delay between the separation of the Mk-72 booster and the Mk-104 sustainer firing (Just enough of a delay to get sufficient clearance between the booster and the missile's boat-tail).
And once ignited, is its thrust constant or does it have some sort of boot-sustain configuration as well?
The Mk-104 DTRM sustainer has a boost/sustain burn configuration (Dual Thrust Rocket Motor).