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I have used PerformanceTest to check the startup time at each new major release from Firefox 5.0.
Before that, I have used startup.html from http://blog.vlad1.com/2009/07/28/measuring-startup.
PerformanceTest is based on the same principle but computes automatically the mean time of n startups (n is controlled by a script; see Developer's page http://www.teesoft.info/addon-performance-test/?from=-1&to=1.0).
For better measures,
set the Firefox general option 'When Firefox starts' to 'Start with a blank page' (browser.startup.page = 0)
and avoid to have any active Panorama session.
Generally speaking the use must be reserved for advanced users, with notions of scripting & python and who can identify a Firefox profile.