I need to configure grub to boot into winxp before ubuntu, and then hold the grub screen for ~3 seconds! Could somebody help me do this from the Ubuntu CLI?

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you need to have windows as the first option - quite simply edit /etc/default/grub to have windows first, make sure GRUB_TIMEOUT is not commented out and has a value of 3 and save it. then run sudo update-grub

full docs here for more info

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