This is now supported as standard by Foundation 5 via the attribute data-options="deep_linking:true"
From the docs:
The tabs Foundation component can parse the location hash value and open the corresponding tab content pane. To enable deep linking set data-options="deep_linking:true". If the location hash maps to an element ID within a tab content pane, then the appropriate tab will become active and the browser window will scroll to the specified element. If you do not want to scroll to the specified element then set data-options="scroll_to_content: false".