download/run executable without eclipse

Is there an analagous workflow to nios2-download /nios2-terminal for dowloading, running and capturing output from bare metal applications on the arm? I can easily get things to work using eclipse, but for various reasons that is not a desirable solution. Looking at the ARM information center, they are not very informative on how to use debugger from the command line - http://infocenter.arm.com/help/topic/com.arm.doc.dui0446d/cihiajbi.html . They have a section on "loading an image to the target" but that is entirely eclipse based. I'm new to the whole DS5 workflow, so be gentle please.