It looks like you're using outdated documentation. From the comments you're using version 3.x. Here's the documentation on how to use it now.
It looks like what's different now is that you have to specify which fields you want to be able to use them.
function onSuccess(contacts) {
alert('Found ' + contacts.length + ' contacts.');
};
function onError(contactError) {
alert('onError!');
};
// find all contacts with 'Bob' in any name field
var options = new ContactFindOptions();
options.filter = "Bob";
options.multiple = true;
var fields = ["displayName", "name"]; //here you would add phoneNumbers
navigator.contacts.find(fields, onSuccess, onError, options);
Or if you want to get all the fields the Documentation says:
A contactFields value of "*" returns all contact fields.