There used to be a useful utility called USBProber for OS X, but I can no longer locate it. I am assuming it has been replaced by another utility, but I am not sure what Apple replaced it with or where I can find it.
The last time USBProber worked was with OS X 10.9 and I need the replacement that will work with 10.11 (El Capitan).
USBProber required a kernel extension to function correctly and as the README stated:
IMPORTANT: If the incorrect version of the IOUSBFamily kernel extension is installed, the system may panic on startup. Verify that you are installing this release of the IOUSBFamily to the matching version of OS X.