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 have modified this script and improved it if anyone is interested.
https://gist.github.com/SillySam/842d8b5cade983c194a3b8d1a0171287