I've had this problem since Fiesty release. Bootup takes about 4
minutes. I keep hoping the next kernel update will fix it but no dice.
I've tried adding "irqpoll" to the menu.lst boot options but that has no
effect for me. Bug 96826 seems to be related to a cdburner but my
computer does not have a Lite-on burner, only a regular cdrom.

MB: Asus P4S8X
HD: Western Digital 320GB IDE (on primary IDE interface) (I recently upgraded 
but had same issue with last HD)
CDR: Aopen CD-952E (on second IDE interface)

In addition to trying the irqpoll boot option, I've tried disabling the
cdrom and turning off the "Plug and Play OS" bios option (workarounds
reported in other bugs). If there are other workarounds I haven't found
them.

I was hoping yesterday's kernel update would be the one to fix this
problem but instead it just broke my menu.lst. It completely removed my
windows dual-boot menu option, changed the Ubuntu root back to hd0,0 but
it's now on hd0,1 since the hard-drive upgrade, and the UUID is back to
the pre-upgrade volume ID. It seems like it replaced some backup version
of the menu.lst file to what it was after install but how can it do
that? Anyway, that's all off-topic but it pisses me off just the same.

If any logs will help just let me know. My dmesg output is quite similar
to the original poster's but I've attached it.

** Attachment added: "dmesg output"
   http://launchpadlibrarian.net/8037845/dmesg.txt

-- 
ATA errors cause LONG boot time in Feisty
https://bugs.launchpad.net/bugs/109130
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