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Check out hotscripts.com and search for "sitemap". There are several scripts on there that will make a sitemap of all the files on your server. I didn't see any that you could remotely crawl another site if that is what you are looking for, but the scripts I am talking about consist of one tiny file that reads your directories and subdirectories and prints out a nice hiearcha listing of all files and folders minus the ones you don't want listed.
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