It's available as a web page in the iPhone or as a PDF. I tried mailing a link it to myself per Apple's advice:
... From a Mail message or a web page, touch and hold the PDF icon or link, then select “Open in iBooks.”...The email touch and hold didn't work -- so Apple's documentation is wrong for iOS 4.01. Instead I tapped the link and in Safari I saw an Open in iBooks button.
So now I have the PDF manual in my bookshelf. It's not bad, but not clear that there's an advantage over using the web version.