After some more checking I found that my issue was not with the startup
order but the shutdown order.

At install of corosync, the shutdown is linked with K01corosync. Using
update-rc.d pacemaker defaults will create the shutdown link
K20pacemaker.

This causes corosync to be shutdown before pacemaker is.

-- 
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High Availability Team, which is subscribed to pacemaker in Ubuntu.
https://bugs.launchpad.net/bugs/1322899

Title:
  pacemaker init script links aren't created on upgrade

Status in “pacemaker” package in Ubuntu:
  Confirmed

Bug description:
  When upgrading my pacemaker/corosync machines from ubuntu 12.04 to
  14.04, update-rc.d for pacemaker is not run, so the new pacemaker
  init.d script is never executed on system startup, causing
  corosync/pacemaker HA system to not start.

  When adding the new pacemaker init.d script, update-rc.d should be
  run, so pacemaker init.d is run to start pacemaker as needed.

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