We applied last-minute for Cardpool (W2010) and Anywhere.FM (S2007). Applying last-minute is certainly better than not applying, as YC has been great for us both times :).

We were REALLY worried we'd be way behind everyone else, because we started later (or didn't even have an idea yet in the Anywhere.FM case), but turns out that the pressure of being behind helped us launch by month 2 both times.