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Honestly, the best thing to do is get yourself a Linux partition and use Kismet. It's very simple to set up, works with almost any card, and has far more features than Netstumbler. Hook it up with a GPS and you'll be making maps, etc.

It also is completely passive (so most likely legal, since 2.4ghz is a public band with no regulations on it) and anything it hears, not just AP broadcasts, are logged. You can drive around, then throw Ethereal up and see what data you happened to grab. All completely passively.

Check out the kismet site for more information. Here is a map I made of downtown Ann Arbor. No intrusions were performed, SSIDs are purposefully left off the map, and the colors are completely arbitrary. I'm interested in what is where. Not using other people's bandwidth/networks.