Dell iDRAC
Dealing with old Dell iDRACs is always fun. Here are some notes on how to get it working.
Troubleshooting
Network connection has dropped

Install icedtea-web or the official JDK from oracle. Because the iDRAC uses RC4 for SSL/TLS, you will get an error "The viewer has terminated. Reason: The network connection has dropped." if you try to connect. To work around this, you will need to edit /usr/java/jdk1.8.0_202-amd64/jre/lib/security/java.security (change the java version as required) and edit jdk.tls.disabledAlgorithms to not include RC4. Save the file and try launching the java web start applet again.
644 #jdk.tls.disabledAlgorithms=SSLv3, RC4, DES, MD5withRSA, DH keySize < 1024, \
645 # EC keySize < 224, 3DES_EDE_CBC, anon, NULL
646 jdk.tls.disabledAlgorithms=SSLv3, DES, MD5withRSA, DH keySize < 1024, \
647 EC keySize < 224, 3DES_EDE_CBC, anon, NULL

Java application blocked
On an even older Dell iDRAC (version 2.2), when trying to launch the java web start application, I got an "Application Blocked by Java Security".
To fix this, you need to open the Java security control panel by running /usr/java/jdk1.8.0_202-amd64/jre/bin/ControlPanel, go to the "Security" tab, and then click 'Edit Site List...'. Add your iDRAC's address into the exception list. For example, http://ipmi-nn1:80 or https://ipmi-nn1:443.