So this panic also exists in RELENG_5_4, and I have managed 
to get a dump of it.
First a few words about the system:
uname -a:
FreeBSD kvip88.kvi.nl 5.4-RELEASE FreeBSD 5.4-RELEASE #1: Fri May  6
16:03:32 CEST 2005

I did a fresh cvsup/buildworld/buildkernel today. Kernel config
is attached below. Panic is 100% reproducible by just pressing any
key during boot, and even sometimes on the live system (it happened
only once for me, when I pressed a key on vty0, which has no getty
running). This specific dump was taken at the very early stage of
the boot sequence, just after attaching swap space. Unfortunately
unlike in the examples from developers handbook I can't get a 
panic message back from a dump (is it because I compiled a debugger
into the kernel and called panic from there manually?), but stack
trace starting from entry 24 corresponds to the one I saw there.

PS.
Why doadump() refuses to write a 511Mb big dump into 512Mb
swap partition?

PPS.
Do I really need a "option KDB/DDB" in the kernel to get dumps?

-- 
Best regards,
  Alexander.
machine         i386
cpu             I686_CPU
options         CPU_SUSP_HLT
options         INCLUDE_CONFIG_FILE
ident           KVIP88

makeoptions     DEBUG=-g                #Build kernel with gdb(1) debug symbols
options         KDB
options         KDB_TRACE
options         DDB

#options                PREEMPTION              # allows kernel threads 
preemtion
options         SCHED_4BSD              # 4BSD scheduler
options         INET                    # InterNETworking
options         FFS                     # Berkeley Fast Filesystem
options         SOFTUPDATES             # Enable FFS soft updates support
options         UFS_ACL                 # Support for access control lists
options         UFS_DIRHASH             # Improve performance on big directories
options         MD_ROOT                 # MD is a potential root device
options         MSDOSFS                 # MSDOS Filesystem
options         CD9660                  # ISO 9660 Filesystem
#options        PROCFS                  # Process filesystem (requires PSEUDOFS)
options         PSEUDOFS                # Pseudo-filesystem framework
options         COMPAT_43               # Compatible with BSD 4.3 [KEEP THIS!]
options         COMPAT_FREEBSD4         # Compatible with FreeBSD4
options         SCSI_DELAY=150          # Delay (in ms) before probing SCSI
options         KTRACE                  # ktrace(1) support
options         SYSVSHM                 # SYSV-style shared memory
options         SYSVMSG                 # SYSV-style message queues
options         SYSVSEM                 # SYSV-style semaphores
options         _KPOSIX_PRIORITY_SCHEDULING # POSIX P1003_1B real-time 
extensions
options         KBD_INSTALL_CDEV        # install a CDEV entry in /dev
options         ADAPTIVE_GIANT          # Giant mutex is adaptive.

device          apic                    # I/O APIC

# Add character code conversion support with LIBICONV.
options         CD9660_ICONV
options         MSDOSFS_ICONV
options         LIBICONV

# Additionall network options
options         ALTQ
options         ALTQ_CBQ                # Class Bases Queueing
options         ALTQ_PRIQ               # Priority Queueing
options         IPDIVERT                # divert sockets
options         IPFIREWALL_DEFAULT_TO_ACCEPT # allow everything by default
options         FAST_IPSEC              # new IPsec (cannot define w/ IPSEC)
#options                IPSEC                   # IP security
#options                IPSEC_ESP               # IP security (crypto; define 
w/ IPSEC)

# Bus support.  Do not remove isa, even if you have no isa slots
device          isa
device          pci

# Floppy drives
device          fdc

# ATA and ATAPI devices
device          ata
device          atadisk         # ATA disk drives
#device         atapicd         # ATAPI CDROM drives
options         ATA_STATIC_ID   # Static device numbering
device          atapicam        # emulate ATAPI devices as SCSI ditto via CAM
                                # needs CAM to be present (scbus & pass)

# SCSI peripherals
device          scbus           # SCSI bus (required for SCSI)
device          da              # Direct Access (disks)
device          cd              # CD
device          pass            # Passthrough device (direct SCSI access)

# atkbdc0 controls both the keyboard and the PS/2 mouse
device          atkbdc          # AT keyboard controller
device          atkbd           # AT keyboard
device          psm             # PS/2 mouse

device          vga             # VGA video card driver

device          splash          # Splash screen and screen saver support

# syscons is the default console driver, resembling an SCO console
device          sc
options         SC_ALT_MOUSE_IMAGE
options         SC_PIXEL_MODE
options         VESA

device          agp             # support several AGP chipsets
device          radeondrm
device          mgadrm

# Floating point support - do not disable.
device          npx

# Power management support (see NOTES for more options)
#device         apm
#device         cpufreq
# Add suspend/resume support for the i8254.
device          pmtimer

# PCCARD (PCMCIA) support
# PCMCIA and cardbus bridge support
#device         cbb             # cardbus (yenta) bridge
#device         pccard          # PC Card (16-bit) bus
#device         cardbus         # CardBus (32-bit) bus

# PCI Ethernet NICs that use the common MII bus controller code.
device          miibus          # MII bus support
device          bfe             # Broadcom BCM440x 10/100 Ethernet
device          xl              # 3Com 3c90x (``Boomerang'', ``Cyclone'')

# Pseudo devices.
device          loop            # Network loopback
device          mem             # Memory and kernel memory devices
device          io              # I/O device
device          random          # Entropy device
device          ether           # Ethernet support
device          pty             # Pseudo-ttys (telnet etc)
device          md              # Memory "disks"

# The `bpf' device enables the Berkeley Packet Filter.
# Be aware of the administrative consequences of enabling this!
device          bpf             # Berkeley packet filter

# USB support
device          uhci            # UHCI PCI->USB interface
#device         ehci            # EHCI PCI->USB interface
device          usb             # USB Bus (required)
device          ugen            # Generic
device          uhid            # "Human Interface Devices"
device          ukbd            # Keyboard
device          umass           # Disks/Mass storage - Requires scbus and da
device          ums             # Mouse

# FireWire support
#device         firewire        # FireWire bus code
#device         sbp             # SCSI over FireWire (Requires scbus and da)
#device         fwe             # Ethernet over FireWire (non-standard!)

# Sound support
device          sound           # The generic sound driver.
device          snd_ich         # Intel ICH PCI and some more audio controllers
                                # embedded in a chipset.

# Crypto subsystem
device          crypto          # core crypto support
dump.txt

[EMAIL PROTECTED]:/sys/i386/compile/KVIP88/ > sd kgdb kernel.debug 
/var/crash/vmcore.1
[GDB will not be able to debug user-mode threads: /usr/lib/libthread_db.so: 
Undefined symbol "ps_pglobal_lookup"]
GNU gdb 6.1.1 [FreeBSD]
Copyright 2004 Free Software Foundation, Inc.
GDB is free software, covered by the GNU General Public License, and you are
welcome to change it and/or distribute copies of it under certain conditions.
Type "show copying" to see the conditions.
There is absolutely no warranty for GDB.  Type "show warranty" for details.
This GDB was configured as "i386-marcel-freebsd".
#0  doadump () at pcpu.h:159
159             __asm __volatile("movl %%fs:0,%0" : "=r" (td));
(kgdb) bt
#0  doadump () at pcpu.h:159
#1  0xc0515fb9 in boot (howto=260) at ../../../kern/kern_shutdown.c:410
#2  0xc0516679 in panic (fmt=0xc06a2937 "from debugger") at 
../../../kern/kern_shutdown.c:566
#3  0xc044779d in db_panic (addr=-1067107782, have_addr=0, count=-1, 
modif=0xd41dda9c "")
    at ../../../ddb/db_command.c:435
#4  0xc0447b99 in db_command_loop () at ../../../ddb/db_command.c:349
#5  0xc0449854 in db_trap (type=12, code=0) at ../../../ddb/db_main.c:221
#6  0xc05312aa in kdb_trap (type=0, code=0, tf=0xd41ddc44) at 
../../../kern/subr_kdb.c:468
#7  0xc066e29a in trap_fatal (frame=0xd41ddc44, eva=20) at 
../../../i386/i386/trap.c:812
#8  0xc066e564 in trap_pfault (frame=0xd41ddc44, usermode=0, eva=20)
    at ../../../i386/i386/trap.c:735
#9  0xc066e980 in trap (frame=
      {tf_fs = 24, tf_es = 16, tf_ds = 16, tf_edi = -1066188128, tf_esi = 32, 
tf_ebp = -736240480, tf_isp = -736240528, tf_ebx = -1045637120, tf_edx = 0, 
tf_ecx = -1066201856, tf_eax = 32, tf_trapno = 12, tf_err = 0, tf_eip = 
-1067107782, tf_cs = 8, tf_eflags = 66050, tf_esp = 32, tf_ss = -1045637120}) 
at ../../../i386/i386/trap.c:425
#10 0xc065d23a in calltrap () at ../../../i386/i386/exception.s:140
#11 0x00000018 in ?? ()
#12 0x00000010 in ?? ()
#13 0x00000010 in ?? ()
#14 0xc07342a0 in sc_devclass ()
#15 0x00000020 in ?? ()
#16 0xd41ddca0 in ?? ()
#17 0xd41ddc70 in ?? ()
#18 0xc1acd800 in ?? ()
#19 0x00000000 in ?? ()
#20 0xc0730d00 in kernel_console_ts ()
#21 0x00000020 in ?? ()
#22 0x0000000c in ?? ()
---Type <return> to continue, or q <return> to quit---
#23 0x00000000 in ?? ()
#24 0xc0653a3a in sckbdevent (thiskbd=0xc071e0c0, event=0, arg=0xc07342a0) at 
linedisc.h:122
#25 0xc0644d16 in atkbd_intr (kbd=0xc071e0c0, arg=0x0) at 
../../../dev/kbd/atkbd.c:461
#26 0xc0678c11 in atkbd_isa_intr (arg=0x0) at ../../../isa/atkbd_isa.c:177
#27 0xc04fd99d in ithread_loop (arg=0xc197bc80) at ../../../kern/kern_intr.c:547
#28 0xc04fc9d8 in fork_exit (callout=0xc04fd8e6 <ithread_loop>, arg=0x0, 
frame=0x0)
    at ../../../kern/kern_fork.c:791
#29 0xc065d29c in fork_trampoline () at ../../../i386/i386/exception.s:209
(kgdb)
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