[Chaos in a Can]

Actually, my team has been having problems with delay in the advanced framework too. All sensors were initialized during the begin.vi, but there was still a 2-3 second hang-up during the init state of every mode.
During every state change, the driver station would display "Watchdog" for 1-2 seconds, enter the state for about half a second, display the watchdog timeout message again for another 1-2 seconds, then return to normal operations.

We even stumped the NI representative at the regional event after we pinpointed the cause of the hangup to be a section of a vi with approximately nothing in it.

I rewrote almost the entire program at the regional using the version 3 advanced framework and the delay between states disappeared, but there was still about a 1 second delay entering autonomous mode during matches. We were not using any sensors or the camera at the time, and the delay only seems to occur on the competition field (the first time it is run maybe?) because the robot appeared to start autonomous immediately when we tested it in the pits.

Any ideas as to where this delay is coming from?