This question has been answered by patrickappelman. See the first response.
<form action="[[~[[*id]]]]?login_source=login_modal" method="post">
<script>
function getParameterByName(name) {
name = name.replace(/[\[]/, "\\[").replace(/[\]]/, "\\]");
var regex = new RegExp("[\\?&]" + name + "=([^&#]*)"),
results = regex.exec(location.search);
return results === null ? "" : decodeURIComponent(results[1].replace(/\+/g, " "));
}
</script>
[[+msg]] [[!$login_modal_error:jsToBottom]]
<script>
$(document).ready(function(){
var login_source = getParameterByName('login_source');
if ( login_source == 'login_modal') {
$('#login-modal').foundation('reveal','open');
}
});
</script>