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First of all some side items:

• add user to dialout group to deal with serial port permissions with the command "usermod -a -G dialout josh"
• add /sbin/ to path in .bashrc

1) Install dependency packages assuming ubuntu derivative.  

sudo apt-get update
sudo apt-get install aptitude
sudo aptitude update
sudo aptitude install build-essential freeglut3-dev libboost-all-dev xterm libtiff4-dev libpng12-dev libgsl0-dev subversion bzr cmake-curses-gui libxft-dev libxinerama-dev fluid default-jre libblas-dev gpsd

2) Downloads:

cd ~/svn co https://oceanai-mit-edu.ezproxyberklee.flo.org/svn/moos-ivp-aro/releases/moos-ivp-13.2 moos-ivp
cd ~/
bzr co lp:goby
cd goby
sudo ./DEPENDENCIES debian
cd ~/ 
svn checkout https://hovergroup.googlecode.com/svn/trunk/third-party third-party
svn checkout https://hovergroup.googlecode.com/svn/trunk/ivp-extend hovergroup-extend

...

export CXX='/usr/local/lib/distcc/arm-linux-gnueabi-g++-4.4'
export CC='/usr/local/lib/distcc/arm-linux-gnueabi-gcc-4.4'
export DISTCC_HOSTS=192.168.1.4
export DISTCC_POTENTIAL_HOSTS=192.168.1.4
cd ~/moos-ivp/MOOS/MOOSCore
cmake -D DISABLE_NAMES_LOOKUP=ON -D USE_ASYNC_COMMS=ON .
make -j2
cd ../MOOSEssentials
cmake .
make -j2
cd ../MOOSGeodesy
cmake .
make -j2
cd ../MOOSToolsUI
cmake -D BUILD_GRAPHICAL_TOOLS=OFF .
pump make -j2
cd ~/moos-ivp/ivp/src
cmake -D IVP_BUILD_GUI_CODE=OFF .
pump make -j2

cd ~/goby
cmake -D build_apps=OFF .
make -j2
cd ~/hovergroup-extend/trunk
cmake .
make -j2
cd ~/hovergroup-extend/josh
cmake .
make -j2

4) Remove hotplug scripts for gpsd and configure for autostart

sudo update-rc.d gpsd remove

more stuff here.

5) Configure by editing the /etc/ntp.conf configuration file with the following lines: (this information should also be avilable on the gpsd man page)

server 127.127.28.0 minpoll 4 maxpoll 4
fudge 127.127.28.0 time1 0.420 refid GPS

server 127.127.28.1 minpoll 4 maxpoll 4 prefer
fudge 127.127.28.1 refid GPS1

The first line just uses serial data from the gps while the second adds information from the pps line. The "0.420" is an offset to try to correct for delays in the serial comms.  Restart the ntp service and verify functionality.  

/etc/init.d/ntp restart
ntpq -p

asdflj

Testing gpsd:

For debugging purposes gpsd can be run in the foreground with:

gpsd -nN -D9 /dev/ttyUSB0

...