I know one. I use it for my ipod it is called ""turboIRC" (
http://www.appannie.com/app/ios/turboirc/ )
It is free and easy to use.
Just open the app and click "connect"
After you did that you see 8 options.
Tap on "Server" then press edit.
Change the adress to "irc.tl"
After that you can join #ygirc easily.
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