Well, I seemed to have solved the issue, sort of.

Turns out (going from a clue given by the drop to BusyBox) I added
rootdelay=40 to my grub kernel line. It now boots reliably.

So my kernel line in /boot/grub/menu.lst now looks something like this:

kernel   /boot/vmlinuz-2.6.27-4-server
root=UUID=401eb0e1-f624-4d86-a1a4-47374ba9a556 rootdelay=40 ro quiet
splash

I determined this magic number by trial and error. It worked with 60; 30
wasn't enough. I think I'll raise it to a yet much higher number just to
make sure it will always boot when I'm not here to babysit.

But this strikes me as a hack. Is there something bad going on that it
should take so very long to gain access to a disk when, in fact, it is
already reading from the disk (since grub is running)?

-- 
Intrepid ubuntu server won't boot RAID1
https://bugs.launchpad.net/bugs/278176
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