Watch Marquez do it in Moto2 in the 2012 Motegi race. He botched the start and made up a ton of spots on just the first lap - he got up to 9th from almost last in the 32-man grid.
http://www.youtube.com/watch?v=rrGVGrh9e1E
He doesn't have an illegal bike in Moto GP, so chances are you won't see him repeating that.