Yes. It cost 100 bucks but you can install 100 devices. So a group of you can buy a developer account. Also I think some people are selling ad hoc certificates for 10 bucks directly.
But be aware, the signing last one year.
Damn Apple why you pulled gridlee... Business as usual..
Anyway I recommend to jailbreak the device... The problem with jail breaking is that maybe on newer devices and newer OSs it will be very difficult to find exploits.