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Add Category Descriptions to wp_nav_menu in WP 3.0

I want to add category 'descriptions' to my main navigation (list categories) for a theme I am working on.

I am building this theme on WordPress 3.0, and would like to utilize the wp_nav_menu functionality, but cant seem to get it to display the category description as well.

The end goal is to do something like this - http://www.woothemes.com/demo/papercut/

Using the new menu navigation tool in wp 3 and have it display my categories, but also have it display each category description. I already have everything worked out except getting it to display the category descriptions.

Here is my current html structure for this area:

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