In previous ubuntu versions, adding BOOT_DEGRADED=true to /etc/initramfs-tools/conf.d/mdadm allowed the system to automatically boot when the root filesystem is on a degraded array. This no longer seems to work in 16.04 LTS.
The documentation (https://help.ubuntu.com/lts/serverguide/advanced-installation.html) looks to be outdated; sudo dpkg-reconfigure mdadm no longer asks to allow degraded boots and the bootdegraded=true kernel argument also no longer seems to work. The system always boots into initramfs when the root filesystem array is degraded. From there,mdadm -IRs allows the system to boot.
How do I enable automatic booting when the root filesystem is on a degraded RAID1 array in 16.04LTS?