This should be what you are looking for using jQuery.
$(function(){
$('#header_nav').data('size','big');
});
$(window).scroll(function(){
if($(document).scrollTop() > 0)
{
if($('#header_nav').data('size') == 'big')
{
$('#header_nav').data('size','small');
$('#header_nav').stop().animate({
height:'40px'
},600);
}
}
else
{
if($('#header_nav').data('size') == 'small')
{
$('#header_nav').data('size','big');
$('#header_nav').stop().animate({
height:'100px'
},600);
}
}
});
Demonstration: http://jsfiddle.net/jezzipin/JJ8Jc/