Analytical Graphics (AGI), in coordination with the Center for Space Standards and Innovation (CSSI) keeps an up-to-date history of the GPS satellites, including a PRN history for all satellites on their FTP site.  That file can be accessed here: ftp://ftp.agi.com/pub/Catalog/Almanacs/SEM/GPSData.txt.
Additionally, the following page, hosted by Richard Langley at the University of New Brunswick, defines the mapping between the pseudorandom number (PRN), satellite vehicle number (SVN), and the NORAD catalog number (SSC).  It also provides information on the launch date, satellite availability date and the decommissioning date for all GPS satellites.  Information about the clock in use on each satellite is also available.

http://gge.unb.ca/Resources/GPSConstellationStatus.txt