I have exactly the same problem with a different HW.

The setup:
Two raid 5 arrays on 4 USB disks and 3 internal disks with one lvm2 volume on 
top of the one raid 5 array.

The bootup goes to the recovery shell every time, but just by writing exit, the 
booting continues succesfully.
I believe the Buffalo usb disk is the slowest one to be recognized, thus 
causing this problem. No solution though.


** Attachment added: "Screen capture of timeout"
   
https://bugs.launchpad.net/ubuntu/+source/initramfs-tools/+bug/278176/+attachment/2750502/+files/2012-02-01%2017.53.53.jpg

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https://bugs.launchpad.net/bugs/278176

Title:
  disk detection is real slow with some hardware (timout shell drops)

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