How can I get recursively list an apt package's dependencies with their installed versions?

I would like to list the recursive dependencies of a given package, with the currently installed version of each dependency. I'd also like one entry on each line, so it's sortable and diffable.

Basically, given, say, tcpdump, I would like the output to look like:

libtext-wrapi18n-perl: 0.06-7
perl-base: 5.14.2-21+deb7u2

...etc. The exact format of each line doesn't matter so much, just the ability to diff and sort.

The question List (recursive) dependencies of the installed packages in APT is similar, but doesn't give package versions. Using debfoster -d looks promising, but its output does not lend itself to further processing.