I'm also trying to use the standalone LwIP Raw API in a more extensive application than the http-server example.
I share the complaint that you made : the 'rawapi.txt ' documentation is far from complete.
But to be maybe of a little help to you : the thesis written by Adam Dunkels (the original designer of LwIP) is available on the internet. in Chapter 4 it discusses in general how the TCP/IP stack works and you can find some more details about memory management and the use of the pbufs.
You can find the thesis at
http://www.sics.se/~adam/thesis.pdf (
http://www.sics.se/~adam/thesis.pdf)
I hope this answers some questions...