Maybe I’m a little late to the party, but apparently this information is known by not so many people.
Since XCode 7 you are now able to provision (or install) to your device without a paid developer account.
However, it may be possible that it still doesn’t work for you. In that case, try the following options, as mentioned in the release notes.
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Accounts with expired Apple Developer Program memberships may not be able to use free provisioning. (20486606)
Workaround: Create a new Apple ID and enter it into Xcode’s Accounts preference pane.
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The list of teams displayed within Xcode’s Accounts preference pane may not update to show your new free provisioning team. (19775448)
Workaround: Remove your Apple ID and add it again in Xcode’s Accounts preference pane.
