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I got the same error when using an UBOX gps.. the problem was that the gps doesn't publish the time as requested by the gpsd_client.

To solve it you have to pass a parameter to disable the time from gps

here is the command line i use to start gpsd_client

$ rosrun gpsd_client gpsd_client _host:=localhost _port:=2947 _use_gps_time:=false

and it should work

Regards

Mario