Minor fixes and improvements

- Added a new "log_once" function for messages that are useful to appear only once, but where I don't want to bother setting a flag to not log it again.
- Added a few new one-time messages
- Wrapped all of autopilot in the body of the main function so I never have to worry about global shared memory again
- Lowered the install aug requirement by default, but increased it with levels of SF11