There are a number of software packages, many of them free, which can generate
satellite pass predictions from publicly available orbital elements. T.S. Kelso's
web site celestrak.com is a great resource - here's a list of some satellite
tracking software packages.
Most satellite tracking software uses orbital elements (TLEs or "two line element" sets) published by NORAD. You
will want a relatively fresh elset (no more than a couple of weeks old) in order to generate reasonably accurate predictions, since the predictions lose accuracy over time, and the orbit can change due to maneuvers or stationkeeping. celestrak.com maintains up to date TLEs for many satellites, including the GPS constellation.