This pretty much does what you're looking for I think. Could probably be refined:
Basically I've added a class of "has-dropdown" to each LI that has a dropdown and I've added a "dropdown" class to each dropdown DIV.
Then use jQuery to activate a slideToggle function:
jQuery("div#menu ul.menu li.has-dropdown").hover(
function () {
$(this).find("div.dropdown").slideToggle();
},
function () {
$(this).find("div.dropdown").slideToggle();
}
);