Valgrind is an excellent tool to find race conditions and pthreads API misuses. It keeps a model of program memory (and perhaps of shared resources) accesses and will detect missing locks even when the bug is benign (which of course means that it will completely unexpectedly become less benign at some later point).
To use it, you invoke valgrind --tool=helgrind, here is its manual. Also, there is valgrind --tool=drd (manual). Helgrind and DRD use different models so they detect overlapping but possibly different set of bugs. False positives also may occur.
Anyway, valgrind has saved countless hours of debugging (not all of them though 🙂 for me.