IE9+ (Vista+) solution, without creating new text nodes:
var div = document.getElementById("divID");
div.textContent += data + " ";
However, this didn't quite do the trick for me since I needed a new line after each message, so my DIV turned into a styled UL with this code:
var li = document.createElement("li");
var text = document.createTextNode(data);
li.appendChild(text);
ul.appendChild(li);
From https://developer.mozilla.org/en-US/docs/Web/API/Node/textContent :
Differences from innerHTML
innerHTML returns the HTML as its name indicates. Quite often, in order to retrieve or write text within an element, people use innerHTML. textContent should be used instead. Because the text is not parsed as HTML, it's likely to have better performance. Moreover, this avoids an XSS attack vector.