Initial run of parameterized pipeline always fails the first time

properties ([[
  $class: 'ParametersDefinitionProperty',
  parameterDefinitions: [[
    $class: 'StringParameterDefinition',
    name: 'dependency_revision',
    defaultValue: 'master',
    description: 'Revision of dependency project to build'
    ]]
  ]])
echo "Verifying build with dependency project version ${dependency_revision}"

groovy.lang.MissingPropertyException: No such property: dependency_revision for class: groovy.lang.Binding
	at groovy.lang.Binding.getVariable(Binding.java:62)
	at
org.jenkinsci.plugins.scriptsecurity.sandbox.groovy.SandboxInterceptor.onGetProperty(SandboxInterceptor.java:224)
	at org.kohsuke.groovy.sandbox.impl.Checker$4.call(Checker.java:241)
	at org.kohsuke.groovy.sandbox.impl.Checker.checkedGetProperty(Checker.java:238)
	at com.cloudbees.groovy.cps.sandbox.SandboxInvoker.getProperty(SandboxInvoker.java:23)
	at com.cloudbees.groovy.cps.impl.PropertyAccessBlock.rawGet(PropertyAccessBlock.java:17)
	at WorkflowScript.run(WorkflowScript:11)
	at ___cps.transform___(Native Method)
	at com.cloudbees.groovy.cps.impl.PropertyishBlock$ContinuationImpl.get(PropertyishBlock.java:62)
	at com.cloudbees.groovy.cps.LValueBlock$GetAdapter.receive(LValueBlock.java:30)
	at com.cloudbees.groovy.cps.impl.PropertyishBlock$ContinuationImpl.fixName(PropertyishBlock.java:54)
	at sun.reflect.GeneratedMethodAccessor983.invoke(Unknown Source)
	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.lang.reflect.Method.invoke(Method.java:498)
	at com.cloudbees.groovy.cps.impl.ContinuationPtr$ContinuationImpl.receive(ContinuationPtr.java:72)
	at com.cloudbees.groovy.cps.impl.ConstantBlock.eval(ConstantBlock.java:21)
	at com.cloudbees.groovy.cps.Next.step(Next.java:58)
	at com.cloudbees.groovy.cps.Continuable.run0(Continuable.java:154)
	at org.jenkinsci.plugins.workflow.cps.SandboxContinuable.access$001(SandboxContinuable.java:18)
	at org.jenkinsci.plugins.workflow.cps.SandboxContinuable$1.call(SandboxContinuable.java:32)
	at org.jenkinsci.plugins.workflow.cps.SandboxContinuable$1.call(SandboxContinuable.java:29)
	at org.jenkinsci.plugins.scriptsecurity.sandbox.groovy.GroovySandbox.runInSandbox(GroovySandbox.java:108)
	at org.jenkinsci.plugins.workflow.cps.SandboxContinuable.run0(SandboxContinuable.java:29)
	at org.jenkinsci.plugins.workflow.cps.CpsThread.runNextChunk(CpsThread.java:164)
	at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup.run(CpsThreadGroup.java:360)
	at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup.access$100(CpsThreadGroup.java:80)
	at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup$2.call(CpsThreadGroup.java:236)
	at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup$2.call(CpsThreadGroup.java:226)
	at org.jenkinsci.plugins.workflow.cps.CpsVmExecutorService$2.call(CpsVmExecutorService.java:47)
	at java.util.concurrent.FutureTask.run(FutureTask.java:266)
	at hudson.remoting.SingleLaneExecutorService$1.run(SingleLaneExecutorService.java:112)
	at jenkins.util.ContextResettingExecutorService$1.run(ContextResettingExecutorService.java:28)
	at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
	at java.util.concurrent.FutureTask.run(FutureTask.java:266)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
	at java.lang.Thread.run(Thread.java:745)

ace-editor:1.1
active-directory:2.0
ant:1.4
antisamy-markup-formatter:1.5
artifactory:2.8.1
authentication-tokens:1.3
aws-credentials:1.16
aws-java-sdk:1.11.37
bouncycastle-api:2.16.0
branch-api:1.11.1
build-timeout:1.18
cloudbees-folder:5.13
cobertura:1.9.8
conditional-buildstep:1.3.5
config-file-provider:2.13
credentials:2.1.10
credentials-binding:1.10
cucumber-testresult-plugin:0.9.7
datadog:0.5.5
display-url-api:0.5
docker-commons:1.5
docker-custom-build-environment:1.6.5
docker-workflow:1.9.1
durable-task:1.12
ec2:1.36
email-ext:2.52
embeddable-build-status:1.9
envinject:1.93.1
external-monitor-job:1.6
git:3.0.1
git-client:2.1.0
github:1.24.0
github-api:1.80
github-branch-source:1.10.1
github-organization-folder:1.5
git-server:1.7
global-build-stats:1.4
gradle:1.25
handlebars:1.1.1
htmlpublisher:1.11
icon-shim:2.0.3
ivy:1.26
jackson2-api:2.7.3
javadoc:1.4
jquery-detached:1.2.1
junit:1.19
ldap:1.13
mailer:1.18
mapdb-api:1.0.9.0
matrix-auth:1.4
matrix-project:1.7.1
maven-plugin:2.14
momentjs:1.1.1
node-iterator-api:1.5
pam-auth:1.3
parallel-test-executor:1.9
parameterized-trigger:2.32
pipeline-build-step:2.4
pipeline-graph-analysis:1.2
pipeline-input-step:2.5
pipeline-milestone-step:1.2
pipeline-rest-api:2.3
pipeline-stage-step:2.2
pipeline-stage-view:2.3
plain-credentials:1.3
resource-disposer:0.3
run-condition:1.0
scm-api:1.3
script-security:1.24
slack:2.1
ssh-agent:1.13
ssh-credentials:1.12
ssh-slaves:1.11
structs:1.5
subversion:2.7.1
swarm:2.2
timestamper:1.8.7
token-macro:2.0
windows-slaves:1.2
workflow-aggregator:2.4
workflow-api:2.6
workflow-basic-steps:2.3
workflow-cps:2.23
workflow-cps-global-lib:2.5
workflow-durable-task-step:2.5
workflow-job:2.9
workflow-multibranch:2.9.2
workflow-scm-step:2.3
workflow-step-api:2.5
workflow-support:2.11
ws-cleanup:0.32