A DHTML shell that allows you to query the current browser window. Includes command line JavaScript execution, mouseover DOM query, CSS input, tab completion, profiler and object inspection. Can be configured to run off a bookmarklet, and works in IE, Firefox, Safari and Opera
Exploring the features of Firebug, with code examples covering using the console, timing code, stack traces, debugging and breakpoints, profiling, tracing HTTP requests. An excellent overview of Firebug's functionality
A BetterExplained article that discusses how to reduce the initial load time of JavaScript files. Covers measuring load times, and a number of approaches to delaying the loading of a JavaScript file. Also covers minifying JavaScript and maintaining a debug version of code. Also covers an AJAX onLoad pattern to dynamically include JavaScript after page load, and HTTP caching of external JavaScript files
Svend Tofte puts together a detailed guide to setting up and using the Venkman debugger. From basic debugging to watchlists and call stacks, breakpoints, and more advanced techniques like meta comments and profiling. It also contains a list of other useful Venkman resources.
Apart from being an elegant debugger, FireBug offers the developer hooks that can be used from JavaScript, offering logging, assertions, performance measuring, and command line functions for inspection or traversing a document.