Having found
http://ubuntuforums.org/showthread.php?t=1428427
it looks like the pre-requisite is to configure

GRUB_DEFAULT=saved

There is a comment at the top of /etc/default/grub which refers the
reader to info -f grub -n 'Simple configuration' where this is
documented.

However it is not mentioned in the manpages of grub-reboot, grub-set-
default or grub-editenv; I think it would be useful if it were.

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https://bugs.launchpad.net/bugs/1102925

Title:
  grub-reboot does not select kernel

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