I tried to compile a 7.x Version of gdb without any luck. I codesigned the executable(http://sourceware.org/gdb/wiki/BuildingOnDarwin).
With following version there
There were two issues in the OP's question. The one regarding signing the executable or modifying taskgated and using setgid procmod has been covered. The second issue is the warnings about unknown load commands. I too ran into this and after a bunch of searching came across the following patches, that fix it:
https://gist.github.com/davidbalbert/4197567