Saw this and tried the following which isn't automated but is one way of doing it.
- First install SEO Quake plugin
- Go to Google
- Turn off Google Instant (http://www.google.com/preferences)
- Go to Advanced search set the number of results you want displayed (estimate the number of pages on your site)
- Then run your site:www.example.com search query
- Export this to CSV
- Import to Excel
- Once then do a Data to columns conversion using ; as a delimiter (this is the CSV delimiter)
- This gives you a formatted list.
- Then import your sitemap.xml into another TAB in Excel
- Run a vlookup between the URL tabs to flag which are on sitemap or vice versa.
Not exactly automated but does the job.