There are three primary options.
- Debug using Safari. This is good for debugging a hybrid app, but cannot tell you output related to native plugins. http://webdesign.tutsplus.com/articles/quick-tip-using-web-inspector-to-debug-mobile-safari–webdesign-8787
- Open the project and build to device in Xcode. This shows the output of the entire device http://cordova.apache.org/docs/en/3.5.0/guide_platforms_ios_index.md.html#iOS%20Platform%20Guide
- Debug with Ionic CLI. Using
ionic run ios -l -c -swith the flags will use live reload and print the logs to the console. http://ionicframework.com/blog/live-reload-all-things-ionic-cli/