You can find out which wi-fi networks a Mac has connected to by going to the Network preference pane, then clicking on Advanced, then on the Wi-Fi tab; they'll be listed in Preferred Networks. But if you want to do this from Terminal - say for a Mac you've connected to via ssh - this hint, posted on OS X Daily, can do it as well:
The list will be the same as that in Preferred Networks, and you can't alter it, but it my be useful in some situations.
defaults read /Library/Preferences/SystemConfiguration/com.apple.airport.preferences RememberedNetworks | egrep -o '(SSID_STR|_timeStamp).+' | sed 's/^.*= \(.*\);$/\1/' | sed 's/^"\(.*\)"$/\1/' | sed 's/\([0-9]\{4\}-..-..\).*/\1/'
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