Firstly make sure you can run the standard CloudFoundry cli:

cf logs [APP_NAME]

Then turn on tracing:

export CF_TRACE=true

You will see a HTTP request and then it will switch to a secure WebSocket:

WEBSOCKET REQUEST: [2015-04-22T11:27:22+01:00]
GET /tail/?app=[APP_GUID] HTTP/1.1
Host: wss://loggregator.[YOUR_CF_DOMAIN]:443
Upgrade: websocket
Connection: Upgrade
Sec-WebSocket-Version: 13
Sec-WebSocket-Key: [HIDDEN]
Origin: http://localhost
Authorization: [PRIVATE DATA HIDDEN]

As you can see the Authorisation header is hidden, but fear not if look in ~/.cf/config.json under “AccessToken” thats all you need ("jq .AccessToken ~/.cf/config.json"). Combine this with wscat and you are good to go:

wscat -c wss://loggregator.[YOUR_CF_DOMAIN]:443/tail/?app=[APP_GUID] -H Authorization:$(jq .AccessToken ~/.cf/config.json)

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