Google released the full investigation conducted by the US Federal Communications Commission (FCC).
It said senior staff on the Street View team were unaware of the plans.
The company was fined $25,000 (£15,300) earlier this month for impeding the FCC's investigation, but was ruled to not have broken the law.
The report came two weeks after a heavily redacted version was released by the FCC at the time of the original fine.
It detailed how one Google engineer, referred to only as "Engineer Doe", produced a computer program capable of collecting data from people's unsecured home wireless networks.
The data gathered included contents of some emails and web browsing history.
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