How to override a security certificate failure for a website?

When a website has an expired or broken security certificate, like a personal or development server, or one that is having issues, it can be helpful to override the warning, "Safari can't open the page because it couldn't establish a secure connection to the server."

On desktop, clicking this error will open a dialog letting you see the exact error and allows a knowledgeable user to override it.

There seems to be no such setting in the iOS version of Safari. Nothing to click on, not in the drop down with the Reader, not in System Settings > Safari.

How do I tell it to load the page anyhow?

-Crissa