Hi Ray,
Not really. You can Flash a User Program to Launch on Power Up and configure al the IO but there will still be a few seconds while KFLOP is booting. This also has a disadvantage of needing things pre-flashed in the board which complicates upgrading to new versions or replacing hardware.
Consider having one relay to keep all power off until your Init.c program is executed. Your Init.c program will then be able to handle things in the proper order of initialization.
Regards
TK