I debug it using Printfs as needed--it just doesn't need a ton of debugging, and Go makes it easy with the %#v format in Printf giving an appropriate, annotated representation of pretty much any data type. Stack traces are also very informative if something goes badly wrong.
I'm pretty sure GDB works now too, but again I have never really felt the need for it. But then, I've never really felt the need for syntax highlighting, code folding, or auto-completed function names. I feel like if my Go code has reached a level of complexity where it needs those things, I've done something wrong. My IDE is Acme, it lets me edit files, run my build scripts, and execute test programs.