This is an AppleScript to automatically compile Cordova and open the Safari debugger. You can also use Automator to assign this script to a shortcut key.

open-webinspector.applescript

#!/usr/bin/osascript

# AppleScript to automatically compile Cordova and open the Safari debugger

set maxWait to 20
set hasClicked to false
set x to 0
set device_name to "iOS Simulator"

# delay fix for yosemite
on delay duration
	set endTime to (current date) + duration
	repeat while (current date) is less than endTime
		tell AppleScript to delay duration
	end repeat
end delay

# open terminal if it's not open already
tell application "Terminal"
	if not (exists window 1) then reopen
	activate
	do script "cordova run ios" in window 1
end tell

# in case the app is already open, go back to the home screen
tell application "iOS Simulator"
	activate
	tell application "System Events" to keystroke "h" using {shift down, command down}
end tell

delay 5

# open safari and wait for the ios app to become available for debugging
tell application "Safari"
	activate
	repeat until hasClicked or x > (maxWait * 10)
		try
			tell application "System Events"
				click menu item "index.html" of menu device_name of menu item device_name of menu "Develop" of menu bar item "Develop" of menu bar 1 of application process "Safari"
			end tell
			set hasClicked to true
		on error foo
			delay 0.1
			set x to x + 1
		end try
	end repeat
	if hasClicked = false then
		display dialog "Unable to connect to iOS simulator - make sure that it's working" buttons {"OK"} default button 1
	else
		try
			tell application "System Events"
				click button 1 of window "Favorites" of application process "Safari"
			end tell
		end try
		return
	end if
end tell