Does both diskgroups show as mounted in ASM after startup?
What is the contents of the GI $ORACLE_HOME/dbs directory?
Keep in mind that ASM on RAC is not much different than ASM standalone. ASM on RAC deals with shared storage and diskgroups that are mounted by multiple ASM instances on different servers. That does not change the basics of how ASM works.
If you see those diskgroup resource ,they have startup_dependencies on ora.asm resource .
It will wait for asm instance to be online within startup_timeout value and then mount those diskgroup.
At startup ,it reads OLR file and get the spfile location of ASM in standalone .
And starts up the system.
Generally ,this does not take much time.
But from the error it seems ,it is taking few more seconds .
This depends upon the the OS level disk response too ,as ASM opens all disks at the time of startup.
you can ignore these errors.