Here are the first a few items from the output of system-analyze blame and this appears after some kernel updates which I think it's a bug. The systemd-udev-settle uses a lot of time to boot, but I use LVM and cannot disable the service:

1min 29.939s systemd-udev-settle.service 13.102s NetworkManager-wait-online.service 4.053s apt-daily.service 3.121s upower.service 2.812s apt-daily-upgrade.service 733ms nmbd.service 700ms media-I.mount 647ms media-F.mount 617ms dictd.service 616ms irqbalance.service 610ms ondemand.service 610ms grub-common.service 606ms plymouth-start.service 599ms sysfsutils.service 597ms apport.service 592ms speech-dispatcher.service 473ms dev-mapper-ubuntuvg\x2droot.device 445ms lvm2-activation-early.service 385ms lvm2-activation.service 379ms vboxdrv.service 274ms lvm2-activation-net.service 230ms ModemManager.service 187ms accounts-daemon.service

Apparently, there are something wrong. It boot half way to the maintenance mode and I have to press ctrl + D to continue to finish the booting process. Some error message from the journalctl -xb are (full record can be found here):

-- The start-up result is done. Nov 04 20:25:48 QC5-ubuntu kernel: Intel(R) Wireless WiFi driver for Linux Nov 04 20:25:48 QC5-ubuntu kernel: Copyright(c) 2003- 2015 Intel Corporation Nov 04 20:25:48 QC5-ubuntu kernel: iwlwifi 0000:04:00.0: enabling device (0000 -> 0002) Nov 04 20:25:48 QC5-ubuntu kernel: iwlwifi 0000:04:00.0: Direct firmware load for iwlwifi-8000C-26.ucode failed with error -2 Nov 04 20:25:48 QC5-ubuntu kernel: iwlwifi 0000:04:00.0: Direct firmware load for iwlwifi-8000C-25.ucode failed with error -2 Nov 04 20:25:48 QC5-ubuntu kernel: iwlwifi 0000:04:00.0: Direct firmware load for iwlwifi-8000C-24.ucode failed with error -2 Nov 04 20:25:48 QC5-ubuntu kernel: iwlwifi 0000:04:00.0: Direct firmware load for iwlwifi-8000C-23.ucode failed with error -2 Nov 04 20:25:48 QC5-ubuntu kernel: iwlwifi 0000:04:00.0: Direct firmware load for iwlwifi-8000C-22.ucode failed with error -2 Nov 04 20:25:48 QC5-ubuntu systemd-udevd[588]: failed to execute '/lib/udev/usb-db' 'usb-db /devices/pci0000:00/0000:00:14.0/usb1/1-13': No such file or directory Nov 04 20:25:48 QC5-ubuntu kernel: iwlwifi 0000:04:00.0: loaded firmware version 21.302800.0 op_mode iwlmvm Nov 04 20:25:48 QC5-ubuntu kernel: nvidia-uvm: Loaded the UVM driver in 8 mode, major device number 241 Nov 04 20:25:48 QC5-ubuntu mtp-probe[575]: checking bus 1, device 7: "/sys/devices/pci0000:00/0000:00:14.0/usb1/1-10" Nov 04 20:25:48 QC5-ubuntu mtp-probe[589]: checking bus 1, device 9: "/sys/devices/pci0000:00/0000:00:14.0/usb1/1-11" Nov 04 20:25:48 QC5-ubuntu mtp-probe[575]: bus: 1, device: 7 was not an MTP device Nov 04 20:25:48 QC5-ubuntu kernel: wmi: Mapper loaded Nov 04 20:25:48 QC5-ubuntu mtp-probe[589]: bus: 1, device: 9 was not an MTP device Nov 04 20:25:48 QC5-ubuntu mtp-probe[615]: checking bus 1, device 5: "/sys/devices/pci0000:00/0000:00:14.0/usb1/1-9" Nov 04 20:25:48 QC5-ubuntu mtp-probe[612]: checking bus 1, device 3: "/sys/devices/pci0000:00/0000:00:14.0/usb1/1-8" Nov 04 20:25:48 QC5-ubuntu mtp-probe[615]: bus: 1, device: 5 was not an MTP device Nov 04 20:25:48 QC5-ubuntu mtp-probe[612]: bus: 1, device: 3 was not an MTP device Nov 04 20:25:48 QC5-ubuntu kernel: Non-volatile memory driver v1.3 Nov 04 20:25:48 QC5-ubuntu kernel: thinkpad_acpi: ThinkPad ACPI Extras v0.25 Nov 04 20:25:48 QC5-ubuntu kernel: thinkpad_acpi: http://ibm-acpi.sf.net/ Nov 04 20:25:48 QC5-ubuntu kernel: thinkpad_acpi: ThinkPad BIOS N1EET73W (1.46 ), EC unknown Nov 04 20:25:48 QC5-ubuntu kernel: thinkpad_acpi: Lenovo ThinkPad P50, model 20ENCTO1WW Nov 04 20:25:48 QC5-ubuntu kernel: thinkpad_hwmon thinkpad_hwmon: hwmon_device_register() is deprecated. Please convert the driver to use hwmon_device_register_with_info(). Nov 04 20:25:48 QC5-ubuntu kernel: thinkpad_acpi: radio switch found; radios are enabled Nov 04 20:25:48 QC5-ubuntu kernel: random: crng init done Nov 04 20:25:48 QC5-ubuntu kernel: thinkpad_acpi: This ThinkPad has standard ACPI backlight brightness control, supported by the ACPI video driver Nov 04 20:25:48 QC5-ubuntu kernel: thinkpad_acpi: Disabling thinkpad-acpi brightness events by default... Nov 04 20:25:48 QC5-ubuntu kernel: thinkpad_acpi: rfkill switch tpacpi_bluetooth_sw: radio is unblocked

...

- The start-up result is done. Nov 04 20:25:48 QC5-ubuntu kernel: ACPI Warning: \_SB.PCI0.PEG0.PEGP._DSM: Argument #4 type mismatch - Found [Buffer], ACPI requires [Package] (20160930/nsarguments-95) Nov 04 20:25:48 QC5-ubuntu systemd-udevd[697]: failed to execute '/lib/udev/usb-db' 'usb-db /devices/pci0000:00/0000:00:14.0/usb1/1-13/1-13:1.0': No such file or directory Nov 04 20:25:48 QC5-ubuntu kernel: RAPL PMU: API unit is 2^-32 Joules, 5 fixed counters, 655360 ms ovfl timer Nov 04 20:25:48 QC5-ubuntu kernel: RAPL PMU: hw unit of domain pp0-core 2^-14 Joules Nov 04 20:25:48 QC5-ubuntu kernel: RAPL PMU: hw unit of domain package 2^-14 Joules Nov 04 20:25:48 QC5-ubuntu kernel: RAPL PMU: hw unit of domain dram 2^-14 Joules Nov 04 20:25:48 QC5-ubuntu kernel: RAPL PMU: hw unit of domain pp1-gpu 2^-14 Joules Nov 04 20:25:48 QC5-ubuntu kernel: RAPL PMU: hw unit of domain psys 2^-14 Joules Nov 04 20:25:48 QC5-ubuntu kernel: media: Linux media interface: v0.10

...

-- Unit systemd-rfkill.service has begun starting up. Nov 04 20:25:49 QC5-ubuntu kernel: ieee80211 phy0: Selected rate control algorithm 'iwl-mvm-rs' Nov 04 20:25:49 QC5-ubuntu kernel: (NULL device *): hwmon_device_register() is deprecated. Please convert the driver to use hwmon_device_register_with_info(). Nov 04 20:25:49 QC5-ubuntu kernel: thermal thermal_zone3: failed to read out thermal zone (-5) Nov 04 20:25:49 QC5-ubuntu systemd[1]: Found device PNY_CS1311_480GB_SSD EFI\x20system\x20partition. -- Subject: Unit dev-disk-by\x2duuid-6226\x2d94B9.device has finished start-up -- Defined-By: systemd

...

Nov 04 20:25:50 QC5-ubuntu systemd[1]: Failed to start Braille Device Support. -- Subject: Unit brltty.service has failed

...

-- Subject: Unit dev-mapper-ubuntuvg\x2dhome.device has failed

...

-- Unit dev-mapper-ubuntuvg\x2dhome.device has failed. -- Unit home.mount has failed. -- The result is dependency. Nov 04 20:27:18 QC5-ubuntu systemd[1]: Dependency failed for Local File Systems. -- Subject: Unit local-fs.target has failed -- Defined-By: systemd

...

set_control:1461: Cannot write control '2:0:0:Clock Source 10 Validity:0' : Operation not permitted Nov 04 20:28:48 QC5-ubuntu systemd[1]: tor@default.service: Control process exited, code=exited status=1 Nov 04 20:28:48 QC5-ubuntu systemd[1]: Failed to start Anonymizing overlay network for TCP. -- Subject: Unit tor@default.service has failed

...

-- Subject: Unit tor@default.service has failed -- Unit tor@default.service has failed. Nov 04 20:28:48 QC5-ubuntu systemd[1]: Failed to start LSB: start Samba NetBIOS nameserver (nmbd). -- Subject: Unit nmbd.service has failed -- Unit nmbd.service has failed.

...

There are failures about USB ports (I am using a DisplayLink USB 3.0 dock and it seems to be related), Tor-networks (how to disable it at startup?), bluetooth and Samba NetBIOS... The first error might be related to the fact that I was once used to have a tablet connected to my dock while booting, and now I don't have it plugged in anymore. I don't know if there is anything I can reconfigure the boot-up settings and let the machine find the working ports automatically? There are also problems with network manager. The network manager needs a lot of time to boot up, but really? It requires internet to boot up? So, I check which services use it:

$ systemctl show network-online.target | grep -E 'WantedBy|Before' WantedBy=whoopsie.service samba-ad-dc.service nmbd.service apt-daily.timer smbd.service Before=whoopsie.service nmbd.service smbd.service rc-local.service apt-daily.timer samba-ad-dc.service snapd.refresh.service

My computer is Thinkpad P50. OS is Ubuntu 16.04.3 with kernel 4.10.0-38. I also have some log outputs on reddit for your reference.

Thanks!