This program has been tested on the Arduino UNO R3. It will work on a Firewing shield that has a GPS module installed.

Arduino Code

#include <SoftwareSerial.h>
SoftwareSerial mySerial(2, 3); // RX, TX

void setup()  
{
  Serial.begin(19200);
  mySerial.begin(9600);
  Serial.println("Waiting for GPS data...");
}

// loop forever
void loop() 
{
  if (mySerial.available())
    Serial.write(mySerial.read());
}