Here's a TS snippet I made a couple weeks ago, trying to emulate the setup of the menu at:

joehewitt.com/files/iphone/navigation.html

It uses the page ids for generating the CSS ids.

If a page has subpages, then the CSS id is added as section (#), otherwise it just links to the page.

lib.iPhoneMenu = COA
lib.iPhoneMenu {
   
  # Example TypoScript setup for creating a menu as un-nested lists.
  # For use with the CSS/JS setup found at http://joehewitt.com/files/iphone/navigation.html
   
  wrap = <div class="iPhoneMenu"> | </div>
  10 = HMENU
  10.entryLevel = 0
   
  # 1st level
  10.1 = TMENU
  10.1 {
    stdWrap.dataWrap = <ul id="c{field:pid}" selected="true"> | </ul>
    expAll = 1
    NO {
      linkWrap = <li>|</li>
    }
    IFSUB < .NO - ERROR: Line 71: Object copied in this line "IFSUB < .NO" would leave either the value or properties untouched in TypoScript Version 1. Please check that this is not a problem for you.
    IFSUB = 1
    IFSUB.doNotLinkIt = 1
    IFSUB.stdWrap.typolink.parameter.data = page:uid
    IFSUB.stdWrap.typolink.section.field = uid
  }
   
  # 2nd level
  20 < .10
  20.1.stdWrap.dataWrap >
  20.1.NO.doNotShowLink = 1
  20.1.IFSUB.doNotShowLink = 1
  20.2 < .10.1
  20.2.stdWrap.dataWrap = <ul id="c{field:pid}"> | </ul>
   
  # 3rd level
  30 < .20
  30.2.stdWrap.dataWrap >
  30.2.NO.doNotShowLink = 1
  30.2.IFSUB.doNotShowLink = 1
  30.3 < .10.1
  30.3.stdWrap.dataWrap = <ul id="c{field:pid}"> | </ul>
   
  # 4th level
  40 < .30
  40.3.stdWrap.dataWrap >
  40.3.NO.doNotShowLink = 1
  40.3.IFSUB.doNotShowLink = 1
  40.4 < .10.1
  40.4.stdWrap.dataWrap = <ul id="c{field:pid}"> | </ul>
}

This snippet was submitted by Peter Klein