Add this to your openocd commands

openocd -l openocd_log.txt -d3

//Example full command string:
openocd -l openocd_log.txt -d3 -f board/esp32-wrover-kit-3.3v.cfg -c "init; reset halt; flash erase_address 0x1000 61440; exit"

Using -d3 gives you a full verbose output

The output log is written to the file openocd_log.txt in: C:\Espressif\frameworks\esp-idf-vX.X.X