There is a deplorable lack of info on the web about how to do this without an Arduino; that is, via hardware only instead of software. Thus, after much blood, sweat and tears, I hope to save others the same trials. Read on:

Power the Wifly. Make sure it’s powered with 3.3V, not 5. When connecting for the first time for setting up an ad-hoc network, jump pin 8 to pin 1 when powering up. The red, green and yellow LEDs will blink quickly.

Open your wireless manager and look for an ad-hoc network named something similar to “Wifly-GSX-9f.” Try to connect to it. You may have to edit the wireless connection IPv4 settings to reflect a “Link-local,” rather than a “DHCP” connection. Try to connect again.

Once your computer has connected to the network, open a terminal and type the following:

telnet 169.254.1.1 2000

169.254.1.1 is the default IP address of the Wifly unit, and 2000 is the default connection port. It should connect almost immediately, greeting you with

Connected to 169.254.1.1.
Escape character is '^]'.
*HELLO*

Enter $$$ and press ‘Enter.’ The unit will respond

CMD

Type:

set ip address 169.254.1.1

The unit will echo the command and respond with

AOK
<2.32>

Now type, one after another:

set ip netmask 255.255.0.0
set ip dhcp 0
set wlan ssid my_chosen_ssid_name
save
reboot

Now disconnect all power from the Wifly, reconnect it, and try to telnet to the same address (169.254.1.1 2000) again. You should be able to connect without any problems. If you disconnect from the network, remember that you have now renamed it, and you need to look for your chosen ssid, not “Wifly-GSX-XXX.”

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