You can pass `--verbose` on the kernel command line (replacing `quiet splash`) to make upstart more verbose. See Upstart debugging.
You can put `console output` in the global configuration file `/etc/init.conf` so that every job has its stdout and stderr connected to the console (by default, they're connected to `/dev/null`). (I'm not sure whether this in fact works; `/etc/init.conf` is not actually documented, I haven't tested if it's read in this way and this thread is not conclusive. Please test and report.) This directive can go into individual jobs' descriptions (`/etc/init/*.conf`) if you want to be selective (some already have it).