There is a solution - don't use numbers. See below for details.

As of Ubuntu 12.10 this was also the case for me, when I did:
grub-set-default 3 # In /boot/grub/grub.cfg the desired entry was the forth 
'menuentry' directive.

But I actually ended up in memtest, which means the items in submenu are
not counted, just the submenu itself. So I have tried changing a number
to the entry name: 'Ubuntu, with Linux 3.5.0-17-generic', which gave me
a warning, pointing to how it is supposed to be done:

Warning: Please don't use old title `Ubuntu, with Linux
3.5.0-17-generic' for GRUB_DEFAULT, use `Advanced options for
Ubuntu>Ubuntu, with Linux 3.5.0-17-generic' (for versions before 2.00)
or `gnulinux-advanced-...>gnulinux-3.5.0-17-generic-advanced-...' (for
2.00 or later)

Therefore, to set grub 2 to load from a submenu entry by default, do the 
following:
sudo grub-set-default 'menuentry id for the submenu>menuentry id for the item'
sudo update-grub

I'm not sure as of 11.10, but this doesn't really seem to be a bug
afterall.

p.s. I see it is an old bug, but I guess the post can be used for
reference (I've got here looking for an answer actually).

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https://bugs.launchpad.net/bugs/883831

Title:
  Grub2 doesn't auto-boot kernels in submenus

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