Print Dashboard submenu name and filename

If you want them in an unordered list:

echo "<ul>\r\n";
foreach ( $submenu as $group => $item ) {
    foreach ( $submenu[$group] as $key => $value ) {
        echo "<li>" . $submenu[$group][$key][0] . " > " . $submenu[$group][$key][2] . "</li>\r\n";
    }
}
echo "</ul>";

This results in:

<ul>
<li>Home > index.php</li>
<li>Updates > update-core.php</li>
<li>Library > upload.php</li>
<li>Add New > media-new.php</li>
</ul>