I have exactly the same problem.

My setup:

  Xubuntu Gutsy with latest Updates
  Athlon 64 1,6 MHz, 1GB RAM
  /dev/md0 is a Raid5 with 3x250GB disks (2x SATA and 1 PATA)

I'm not too experienced with Linux, the only idea I came up with was
disabling the Splashscreen with the status bar to see what's going on.
It loads some hardware drivers I think and then it's the same as
netslayer described, its printing "md: array md0 already has disks!"
over and over again.

I always have to try several times until the system boots but if it
finally does everything is working fine, even the raid.

-- 
Boot with Software Raid most times causes mdadm to not complete (possible race)
https://bugs.launchpad.net/bugs/140854
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