See the References Quick Reference. Basically, if you want to get at the array from a reference $ref you want @{ $ref }. So in a foreach-loop:

foreach my $row (@{ $data }) {
    print "-- New row\n";
    foreach my $col (@{ $row }) {
        print $col,"\n";
    };
};
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First - welcome to the Monastery!

Second - for navigating / looping AoA (array of array) check out perldsc for a tutorial.

There's even perllol, for "lists of lists" although it is really "Arrays of Arrays".
Perl 6 - links to (nearly) everything that is Perl 6.

Yeah - I forgot about that one, now if we can only access perldoc...

Just a something something...

My favorite way to deal with nested structures:

use Data::Alias;

...

alias my @rows = @{ $data };

for my $row (@rows) {
    alias my @col = @{ $row };
    for my $col (@col) {
        print $col,"\n";
    };
};
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 for ($i=0; $i<10; $i++)
{print $data[1][$i];
}
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That would be better written:

for my $index (0 .. 9) {
    print $data[1][$index];
}
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or if you want to print all the elements in the array reference you could:

for my $index (0 .. $#{$data[1]}) {
    print $data[1][$index];
}
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or better still:

for my $element (@{$data[1]}) {
    print $element;
}
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and more succinctly as:

print $_ for @{$data[1]};
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and if you would like a space between elements you can:

print "@{$data[1]}";
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True laziness is hard work