For a main link that has a submenu under it, you should close </li> only after closing its submenu's </ul>.
Change your HTML markup to this:
<div id="mainNav">
<ul id="baseNav">
<li><a href="#">Link1</a>
<ul class="subNav">
<li><a href="SubLink1.html" title="SubLink1">SubLink1</a></li>
<li><a href="SubLink2.html" title="SubLink2">SubLink2</a></li>
<li><a href="SubLInk3" title="SubLInk3">SubLink3</a></li>
</ul>
</li>
<li><a href="#">Link2</a></li>
<li><a href="#">Link3</a></li>
<li><a href="#">Link4</a></li>
<li><a href="#">Link5</a></li>
</ul>
</div>
Notice I've removed </li> from:
<li><a href="#">Link1</a></li>
Only then that line item will be considered to have a submenu under it.