Took this from http://jasonwryan.com/blog/2013/01/10/truecrypt/. Change a little for non loopback and disk id.

tcplay_wrapper

#!/bin/bash
# manage truecrypt containers using tcplay

cryptdev="/dev/disk/by-id/usb-Ut165_USB2FlashStorage_19211326100935920031-0:0"
cryptmap=truecrypt
mountpt=/mnt/"$cryptmap"

# must be run as root
if [[ $EUID != 0 ]]; then
  printf "%s\n" "You must be root to run this."
  exit 1
fi

# unecrypt and mount container
if [[ "$1" == "open" ]]; then

# create mount directory if it doesn't exist
  [[ -d "$mountpt" ]] || mkdir "$mountpt"

# map container
  tcplay -m "$cryptmap" -d "$cryptdev" || (echo "mapping failed" && exit 1)

# mount options
  mount /dev/mapper/"$cryptmap" "$mountpt"

# close and clean up…
elif [[ "$1" == "close" ]]; then
  (umount "$mountpt" && rmdir "$mountpt" && dmsetup remove "$cryptmap" && dmsetup remove "$cryptmap.0") || printf "%s\n" "demapping failed"
else
  printf "%s\n" "Options are open or close."
fi