Change menu is Genesis depending if the current user is logged in.

functions.php

<?php 

// add the members menu through Genesis menu support
add_theme_support( 'genesis-menus', array(
  'members' => __( 'Members Only Navigation', 'news' ),
) );

// remove the default 'genesis_after_header' Genesis action callback
remove_action( 'genesis_after_header', 'genesis_do_nav' );

// add custom 'genesis_after_header' Genesis action callback
add_action( 'genesis_after_header', 'custom_genesis_do_nav' );
/**
 * Callback for Genesis 'genesis_after_header' action.
 * 
 * Display custom menu depending on status of current user.
 * 
 * @package Genesis
 * @category Menu
 * @author Ryan Meier http://www.rfmeier.net/
 * 
 * @return none
 */
function custom_genesis_do_nav(){
	
	// default menu id.  Run through a filter for later use if needed
	$current_menu = apply_filters( 'custom_default_primary_menu_id', 'primary' );
	
	// if user is logged in, set new menu id.   Run through a filter for later use if needed
	if( is_user_logged_in() )
		$current_menu = apply_filters( 'custom_loggedin_menu_id', 'members' );
	
	/** Do nothing if menu not supported */
	if ( ! genesis_nav_menu_supported( $current_menu ) )
		return;

	/** If menu is assigned to theme location, output */
	if ( has_nav_menu( $current_menu ) ) {

		$args = array(
			'theme_location' => $current_menu,
			'container'      => '',
			'menu_class'     => genesis_get_option( 'nav_superfish' ) ? 'menu genesis-nav-menu menu-primary superfish' : 'menu genesis-nav-menu menu-primary',
			'echo'           => 0,
		);

		$nav = wp_nav_menu( $args );

		$pattern = genesis_markup( '<nav class="primary">%2$s%1$s%3$s</nav>', '<div id="nav">%2$s%1$s%3$s</div>', 0 );

		$nav_output = sprintf( $pattern, $nav, genesis_structural_wrap( 'nav', 'open', 0 ), genesis_structural_wrap( 'nav', 'close', 0 ) );

		echo apply_filters( 'genesis_do_nav', $nav_output, $nav, $args );

	}

}