Use the $locationChangeStart or $locationChangeSuccess events, 3rd parameter:
$scope.$on('$locationChangeStart',function(evt, absNewUrl, absOldUrl) {
console.log('start', evt, absNewUrl, absOldUrl);
});
$scope.$on('$locationChangeSuccess',function(evt, absNewUrl, absOldUrl) {
console.log('success', evt, absNewUrl, absOldUrl);
});