I knew we'd seen this error before, but couldn't remember the resolution. We've since changed back to compiling with Java 1.4.2_12, so the more recent test versions of SRV1Console don't have this issue. We should have a formal release of SRV1Console coming soon, and it will likewise use 1.4.2.
Definitely try the 091606 firmware and SRV1Console - you will gain full control of the robot through a terminal program, and all of the commands in
http://www.surveyor.com/SRV_protocol.html will be accessible. Also, we've figured out the cause of the problem that was forcing us to slow down the image transmission in the test code, and will likely have a fix posted within the next few days.
editor note: the 092706 versions of SRV-1 firmware and the SRV1Console resolve the above-mentioned issues