there's an API that will return all managed devices in XML format:
Panorama tab --> Managed Devices --> Summary
Click the PDF/CSV export icon at the bottom of the list.
Voila! More information that you'll ever need (including serial numbers and PanOS versions), in a fancy PDF or simple text file.
Works just fine on PanOS 8.1.12.
Whoops, just noticed this is a thread from 2016.
I should be more specific.
On 8.1.7 it works great.
But I also tried it on a Panorama with 7.1.16, and although you can view the list in similar fashion, there is no option to export to .CSV.
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