GDB connects to all simulator targets using the same basic
command, although each simulator may require additional options.
These are listed in the document describing the target, and should
be used when connecting.
Connect to the target by issuing the following command in
GDB console mode:
(gdb) target sim [target specific options]
In Insight, connect by opening the File->Target
Settings window and enter:
Target: Simulator
Options: [target specific options]
Set other options according to preference, close the window and
select Run->Connect to target.