This gist is for showing an example of a custom wordpress menu.
If you want to get more from the menu item simply have a look at the $item object. i.e:
// Will return a large object with lots of props like title, url, description, id etc.
var_dump( $item );
This code works on Wordpress 4.1.1 as of 31st of March 2015
I've run into a problem this code, it works great until you need to add a 3rd level menu-item, at which point the html elements come undone and the child menu items don't show up. I've checked the code to see what could be causing this or what I could do to fix it but to no avail. I've posted a questions here:
http://wordpress.stackexchange.com/questions/173573/wp-custom-nav-menu-problem
If you have any advice/help I'd greatly appreciate it.