You should assign an array of char pointers, and then, for each pointer assign enough memory for the string:
char **orderedIds;
orderedIds = malloc(variableNumberOfElements * sizeof(char*));
for (int i = 0; i < variableNumberOfElements; i++)
orderedIds[i] = malloc((ID_LEN+1) * sizeof(char)); // yeah, I know sizeof(char) is 1, but to make it clear...
Seems like a good way to me. Although you perform many mallocs, you clearly assign memory for a specific string, and you can free one block of memory without freeing the whole "string array"