http://adambrown.info/p/wp_hooks/hook/wp_update_nav_menu?version=3.5&file=wp-includes/nav-menu.php :
do_action( 'wp_update_nav_menu', $menu_id, $menu_data );
Consequently, a nav menu is a custom post type, as are its menu items, so all of the usual hooks for publish/save/update/trash apply
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