The dmesg output looks like the following:

[112720.972130] audit: type=1400 audit(1585144947.600:71): apparmor="DENIED" 
operation="exec" profile="/usr/sbin/gpsd" name="/bin/dash" pid=353559 
comm="gpsd" requested_mask="x" denied_mask="x" fsuid=0 ouid=0
[112720.973971] audit: type=1400 audit(1585144947.602:72): apparmor="DENIED" 
operation="ptrace" profile="/usr/sbin/gpsd" pid=353555 comm="gpsd" 
requested_mask="read" denied_mask="read" peer="unconfined"
[112720.973976] audit: type=1400 audit(1585144947.602:73): apparmor="DENIED" 
operation="ptrace" profile="/usr/sbin/gpsd" pid=353555 comm="gpsd" 
requested_mask="read" denied_mask="read" peer="unconfined"
[112720.973978] audit: type=1400 audit(1585144947.602:74): apparmor="DENIED" 
operation="ptrace" profile="/usr/sbin/gpsd" pid=353555 comm="gpsd" 
requested_mask="read" denied_mask="read" peer="unconfined"
[112720.973980] audit: type=1400 audit(1585144947.602:75): apparmor="DENIED" 
operation="ptrace" profile="/usr/sbin/gpsd" pid=353555 comm="gpsd" 
requested_mask="read" denied_mask="read" peer="unconfined"
[112720.973983] audit: type=1400 audit(1585144947.602:76): apparmor="DENIED" 
operation="ptrace" profile="/usr/sbin/gpsd" pid=353555 comm="gpsd" 
requested_mask="read" denied_mask="read" peer="unconfined"
[112720.973985] audit: type=1400 audit(1585144947.602:77): apparmor="DENIED" 
operation="ptrace" profile="/usr/sbin/gpsd" pid=353555 comm="gpsd" 
requested_mask="read" denied_mask="read" peer="unconfined"
[112720.973987] audit: type=1400 audit(1585144947.602:78): apparmor="DENIED" 
operation="ptrace" profile="/usr/sbin/gpsd" pid=353555 comm="gpsd" 
requested_mask="read" denied_mask="read" peer="unconfined"
[112720.973989] audit: type=1400 audit(1585144947.602:79): apparmor="DENIED" 
operation="ptrace" profile="/usr/sbin/gpsd" pid=353555 comm="gpsd" 
requested_mask="read" denied_mask="read" peer="unconfined"
[112720.973991] audit: type=1400 audit(1585144947.602:80): apparmor="DENIED" 
operation="ptrace" profile="/usr/sbin/gpsd" pid=353555 comm="gpsd" 
requested_mask="read" denied_mask="read" peer="unconfined"

Note that in my case, /etc/gpsd/device-hook is a shell script, starting
with

#!/bin/sh

and it would appear that the exec permission gpsd needs is tied to the
shell rather than /etc/gpsd/device-hook?

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https://bugs.launchpad.net/bugs/1868363

Title:
  /etc/gpsd/device-hook not actually called

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