May be related to bug #1568097 which had the same messages.

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https://bugs.launchpad.net/bugs/1582191

Title:
  Boot stalls for 90 seconds on mdadm

Status in systemd package in Ubuntu:
  Confirmed

Bug description:
  On a fresh Ubuntu Xenial 16.04 LTS Server install, the boot stalls for
  exactly 90 seconds when using a fairly complex partitioning setup.
  After this, everything works as expected.

  The partitioning is as follows:
  /sda GPT
  /sda1 ESP (/boot/efi)
  /sda2 raid1 md0 ext4 (/boot)
  /sda3 raid1 md1 luks,passphrase ext4 (/)
  /sda4 raid1 md2 luks,key zfs
  /sdb GPT
  /sdb1 ESP (copy of /boot/efi)
  /sdb2 raid1 md0 ext4 (/boot)
  /sdb3 raid1 md1 luks,passphrase ext4 (/)
  /sdb4 raid1 md2 luks,key zfs
  /sdc GPT
  /sdc1 luks,key xfs
  /sdd GPT
  /sdd1 luks,key xfs
  /sdd2 luks,random swap

  This may be an installer or mdadm bug instead - I have not been able
  to exactly determine the cause of the bug.

  I have several identical servers, all showing the same symptom, so it
  should not be due to broken hardware (although design flaws are on the
  table).

  The key seems to be in these lines from journalctl:
  ...
  May 16 14:06:08 molnix kernel: bridge: automatic filtering via 
arp/ip/ip6tables has been deprecated. Update your scripts to load br_netfilter 
if you need this.
  May 16 14:06:08 molnix kernel: device eno1 entered promiscuous mode
  May 16 14:06:08 molnix systemd-udevd[689]: Process '/lib/udev/hdparm' failed 
with exit code 5.
  May 16 14:06:08 molnix systemd-udevd[701]: Process '/lib/udev/hdparm' failed 
with exit code 5.
  May 16 14:06:08 molnix systemd-udevd[707]: Process '/lib/udev/hdparm' failed 
with exit code 5.
  May 16 14:06:08 molnix systemd[1]: Started Monitoring of LVM2 mirrors, 
snapshots etc. using dmeventd or progress polling.
  May 16 14:06:08 molnix systemd-udevd[701]: Process '/sbin/mdadm --incremental 
/dev/sda2 --offroot' failed with exit code 1.
  May 16 14:06:08 molnix systemd-udevd[707]: Process '/sbin/mdadm --incremental 
/dev/sda3 --offroot' failed with exit code 1.
  May 16 14:06:08 molnix systemd[1]: Found device Samsung_SSD_850_EVO_250GB 
EFI\x20System\x20Partition.
  May 16 14:06:08 molnix systemd-udevd[708]: Process '/sbin/mdadm --incremental 
/dev/sda4 --offroot' failed with exit code 1.
  May 16 14:06:08 molnix systemd-udevd[689]: Process '/sbin/mdadm --incremental 
/dev/sdb3 --offroot' failed with exit code 1.
  May 16 14:06:08 molnix systemd[1]: Reached target Local File Systems (Pre).
  May 16 14:06:08 molnix systemd-udevd[701]: Process '/sbin/mdadm --incremental 
/dev/sdb4 --offroot' failed with exit code 1.
  May 16 14:06:08 molnix systemd-udevd[699]: Process '/sbin/mdadm --incremental 
/dev/sdb2 --offroot' failed with exit code 1.
  May 16 14:06:08 molnix systemd-udevd[706]: Process '/lib/udev/hdparm' failed 
with exit code 5.
  May 16 14:06:08 molnix kernel: ipmi_si IPI0001:00: The BMC does not support 
clearing the recv irq bit, compensating, but the BMC needs to be fixed.
  May 16 14:06:08 molnix kernel: ipmi_si IPI0001:00: Found new BMC (man_id: 
0x002a7c, prod_id: 0x086d, dev_id: 0x20)
  ...

  ProblemType: Bug
  DistroRelease: Ubuntu 16.04
  Package: systemd 229-4ubuntu5
  ProcVersionSignature: Ubuntu 4.4.0-22.39-generic 4.4.8
  Uname: Linux 4.4.0-22-generic x86_64
  NonfreeKernelModules: zfs zunicode zcommon znvpair zavl
  ApportVersion: 2.20.1-0ubuntu2
  Architecture: amd64
  Date: Mon May 16 14:17:31 2016
  InstallationDate: Installed on 2016-05-15 (0 days ago)
  InstallationMedia: Ubuntu-Server 16.04 LTS "Xenial Xerus" - Release amd64 
(20160420.3)
  MachineType: Supermicro Super Server
  ProcKernelCmdLine: BOOT_IMAGE=/vmlinuz-4.4.0-22-generic.efi.signed 
root=UUID=0ca65308-3f70-4231-8f5f-e68583a6d5b3 ro
  SourcePackage: systemd
  SystemdDelta:
   [EXTENDED]   /lib/systemd/system/systemd-timesyncd.service → 
/lib/systemd/system/systemd-timesyncd.service.d/disable-with-time-daemon.conf
   [EXTENDED]   /lib/systemd/system/rc-local.service → 
/lib/systemd/system/rc-local.service.d/debian.conf

   2 overridden configuration files found.
  UpgradeStatus: No upgrade log present (probably fresh install)
  dmi.bios.date: 01/04/2016
  dmi.bios.vendor: American Megatrends Inc.
  dmi.bios.version: 1.0c
  dmi.board.asset.tag: To be filled by O.E.M.
  dmi.board.name: X10SDV-4C-TLN4F
  dmi.board.vendor: Supermicro
  dmi.board.version: 2.00
  dmi.chassis.asset.tag: To Be Filled By O.E.M.
  dmi.chassis.type: 17
  dmi.chassis.vendor: Supermicro
  dmi.chassis.version: 0123456789
  dmi.modalias: 
dmi:bvnAmericanMegatrendsInc.:bvr1.0c:bd01/04/2016:svnSupermicro:pnSuperServer:pvr0123456789:rvnSupermicro:rnX10SDV-4C-TLN4F:rvr2.00:cvnSupermicro:ct17:cvr0123456789:
  dmi.product.name: Super Server
  dmi.product.version: 0123456789
  dmi.sys.vendor: Supermicro

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