Well, I got tired of downloading sitemap programs that looped, online services that truncate at 500 URLs, and zencart modules that freak out on wrong version numbers.
SO. here's my final solution, make your own quick and easy.
STEP 1: Export your zen_to_products table to a file that you open in excel. You get two columns, first is product ID, 2nd is category: PhPAdmin select table, select export type, select your format, GO
STEP 2: Then put this excel statement in column D and propagate it over all rows:
=CONCATENATE("<url><loc>http://your site name here.com/index.php?main_page=product_info&cPath=",B1,"&products_id=",A1,"</loc><lastmod>2011-11-10</lastmod><changefreq>weekly</changefreq><priority>0.5</priority></url>")
This will create a complete URL entry for every product in your store. be sure to replace "your site name here" with your site name. Change the date, priority, and frequency if you know what they do and they mean something to you
STEP 3 Copy that column
STEP 4 Paste into notepad
STEP 5 insert this header at the very top
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9">
STEP 6 insert this footer at the very bottom
</urlset>
You now have a complete store site map.
Enjoy.