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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