I also ran into this problem, and came to the conclusion that there is no API support for logging out, amazingly enough.
We've solved it by inserting an iframe into our document that is hidden, and loads the 'logout' page that a user would normally visit. This is a pretty horrible solution but the only way I found that worked.
Create an iframe element from this HTML:
<iframe id="logoutframe" src="
https://accounts.google.com/logout" style="display: none"></iframe>
(exactly how you do this will depend on your code infrastructure, whether you're using a javascript toolkit like jQuery or Dojo etc)
Add the iframe dom node to your document somewhere, and it'll process the logout for you.
I also discovered that there's no sensible way to detect if the user has logged out yet, because the iframe contents operate asynchronously. If you destroy it when the onLoad event fires, the job hasn't yet been done and the user will stay logged in. To avoid polling the gapi authentication system to see if the user is still logged in, I simply wait two seconds and then assume the logout is complete, and destroy the iframe.
Does that help? Any better solutions would be welcome.