Hi Aria,
I see this same error if I do not run the PRU_ICSS_Init script (in the PRU-ICSS gel file. Here are the steps I take to connect to the PRU core:
1. Connecting to the CortexA9
2. Load the gel file to the CortexA9
3. Run the PRU_ICSS_Init script
4. Connect to the PRU core
This wiki article describes these basic steps in more depth, if you have additional questions: http://processors.wiki.ti.com/index.php/GEL
Regards,
Melissa