Hmm, working now. I have a normal "Gmail" account set up under iOS 5.1.1.

Turns out all I had to do was go here https://www.google.com/calendar/iphoneselect and enable the other calendars

Same issue.

1. I hit Save2. Popup: Cannot Connect Using SSL | Do you want to try setting up the account without SSL? (I hit continue)3. Popup: Calendar Account | Unable to verify account information. (I hit OK)4. Server field now says www.google.com