As far as I know, I don't have any special logging plugins enabled, but I see this sort of thing in my server logs:
Code:
L 06/18/2013 - 16:09:07: "Powerlord<4><STEAM_0:0:1081621><>" entered the game
L 06/18/2013 - 16:09:12: "Powerlord<4><STEAM_0:0:1081621><Unassigned>" joined team "Red"
L 06/18/2013 - 16:09:14: "rbemrose<3><STEAM_0:1:42523234><>" entered the game
L 06/18/2013 - 16:09:15: "Powerlord<4><STEAM_0:0:1081621><Red>" changed role to "demoman"
Pretty sure these show up in the console on my server as well.