After a month of struggling with trying to figure out why I had no GPS data, I discovered the following tip in the APM manual. I tried this and it solved my problem. As they say, RTFM. Thanks again to everyone who has tried to help me figure out my GPS problem over the past month.
From the APM Manual:
Note: in the 1.0 Beta code there is a slight bug in the MediaTek setup routine, which requires you to reset your board after a cold start before the GPS lock will be registered. So if you're using the MediaTek GPS, wait until the blue lock LED on that module goes solid, then press the reset button on your APM board or shield. This will do a warm start of the board, and the LED behavior should be as shown in the table above.
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