Alas, I too am being regularly bitten by this bug. I have a fully up to
date version of Lucid, V10.04. Computer: mobo Asus M2N-SLI DELUXE,
nVidia chipset, CPU dual core Athlon 64, main memory 1GiB, video chipset
nVidia 7600GS, monitor 19-inch Hitach CM766ET CRT. Computer was built by
me in 2006, it would be considered very humble and ordinary these days.

INCIDENCE: I cold boot every day, and the bug usually happens. If I
restart, the bug usually does not happen, however, restarts are usually
useless to clear the bug, once it does happen.

It has only happened since around late July 2010. Previously, Ubuntu
would boot satisfactorily.

DETECTION: After every cold boot or restart, I do System >
Administration > Printing. If there is no printer shown in the Printing
- localhost window, then CUPS did not start and I cannot print. Then I
do the workaround (see below), that fixes it. If the printer is there in
the window, the bug is not present and I continue as normal.

WORKAROUND: Do Applications > Accessories > Terminal, Gnome Terminal
starts. Enter command:

sudo telinit 2

Put in the user password, command returns, then quit Terminal. Recheck
System > Administration > Printing to verify that CUPS is now running.
Continue as normal.

RUNLEVEL: I have spent many hours doing CLI commands to try to
investigate this bug. At all times when the bug is present, doing the
runlevel command gives the result "unknown". When the bug is not
present, runlevel reports "N 2".

This suggests that the Upstart job /etc/init/rc.rc-sysinit.conf is not
running. In an attempt to make it run more reliably, I changed the line
in rc-sysinit.conf reading:

start on filesystem and net-device-up IFACE=lo

to:

start on filesystem

I had a theory that the parsing for events in Upstart was not working
properly, so simplifying the event might help. Nope. That did not fix
the bug.

SCRIPT "rc.local" NOT RUNNING: When the bug happens, /etc/rc.local does
not run. I verified that by putting into rc.local, just after the
initial comments, the following two lines:

# Put a status line in /var/log/syslog
logger "Running /etc/rc.local"

Then, whenever /etc/rc.local is run, there gets to be a line in
/var/log/syslog which includes the text:

localhost logger: Running /etc/rc.local

Such lines can easily be found by doing gedit /var/log/syslog (or gedit
/var/log/syslog.1, if syslog is too recent), then search for "logger".

When the bug happens, there is no line such line in /var/log/syslog, for
the buggy start.

IMPORTANCE: I am not happy that the importance of this bug has been
downgraded to High from Critical. This is a very serious bug for users
who do not know a workaround (as given above). It is the sort of thing
that gets people giving up on Linux and going back to Windows. Please
put it back up to Critical.

SUSPICIONS: I have a low level of suspicion about the kernel and
Plymouth. I have a high level of suspicion about Upstart. I think Scott
James Remnant should take more interest this bug, even though he is
pointing the finger at the kernel in comment #136.

COMMENT FOR SCOTT: How about making all Upstart job files have the
extension .upjob ?

-- 
CUPS and other system services not starting at boot
https://bugs.launchpad.net/bugs/554172
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