Look in the standard Developers guide (in the 7.1 version it is page 140) for service auditing.
Auditing is the way to go, but will require some configuration beyond just the service (you will want to audit to a DB to be able to stored the pipeline).
If for some reason you can’t use auditing, you could call BrokerClient.getEvents in an error notification processing service and look for the event ID the error notification will contain.