XDebug is essential for development. I install it before any other extension. It gives you stack traces on any error and you can enable profiling easily.
For a quick look at a data structure use var_dump(). Don't use print_r() because you'll have to surround it with <pre> and it only prints one var at a time.
<?php var_dump(__FILE__, __LINE__, $_REQUEST); ?>
For a real debugging environment the best I've found is Komodo IDE but it costs $$.