Could not open the hard disk '$path to vhd$'
VDI: invalid pre-header in '$path to vhd$'
(VERR_VD_VDI_INVALID_SIGNATURE).
VD: error opening image file '$path to vhd$'
(VERR_VD_VDI_INVALID_SIGNATURE).
Result Code: E_FAIL (0x80004005)
Component: hardDIsk2
Interface: IHardDisk2 {ed6e2525-c2fd-42a4-917a-7a9045ac9e15}
Callee: IVirtualBox {339abca2-f47a-4302-87f5-7bc324e6bbde}
Some others just reported the same error in another topic. I suggested that they open a ticket on this. You can track tickets through the public Bugtracker. However you need to register for a wiki user account (this is different to a forum account sorry) and tif you want to raise or add to tickets.
Read the Forum Posting Guide
Google your Q site:VirtualBox.org or search for the answer before posting.
It's a known bug affecting all versions (I think I can say that if I'm getting the exact same error on Windows, OS X, and Ubuntu hosts) yet VHDs existing in the media manager prior to upgrading to 2.1 will still work fine.