This is a powershell command to get a list of all sites and subsites in a site collection for SharePOint 2010 exported to a CSV
Get-SPWebApplication http://site | Get-SPSite -Limit All | Get-SPWeb -Limit All | Select Title, URL, ID, ParentWebID | Export-CSV C:\InfoArch.csv -NoTypeInformation
Source: https://social.technet.microsoft.com/Forums/lync/en-US/b4dfb645-69f4-4abd-947c-64ca42af3a26/script-to-get-list-of-sites-and-subsites?forum=sharepointadminprevious
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