I have resolved the issue.
In /etc/default/grub, GRUB_TIMEOUT_STYLE was set to "hidden". I changed it to 
"menu" and ran
update-grub

It is a serious bug to hide away the grub menu on a dual boot system.
This makes the other operating system inaccessible.
In addition, even on non-dual boot system the 'advanced' options are 
inaccessible as the grub
screen is hidden. This really needs to be fixed.

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https://bugs.launchpad.net/bugs/2103433

Title:
  grub menu does not display during boot

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