Yes, WinXP does not include SATA drivers so you'll need to create the drivers floppy from your motherboard CD. There should be instructions on there for doing that. Otherwise, you might be able to set your SATA drive to run from the PATA mode in your BIOS.
If your machine won't allow booting with GRUB written to the MBR, you can clear the MBR by going into Linux, opening a terminal, switching to root, then issuing the following command:
Code:
dd if=/dev/zero of=/dev/sda bs=446 count=1
You'll get a short message about records in and records out, then your XP disk should boot. You'll have to reinstall GRUB once you are done with your Windows install. An easy method of doing that by using the
SuperGRUB LiveCD.
Edit: oops, Ubuntu uses sudo, so the command would be:
Code:
sudo dd if=/dev/zero of=/dev/sda bs=446 count=1