The orinoco_cs driver should work. It supports the Prism chipset - your card is a Prism 3 model. I'm using the same card with that module. ndiswrapper would not be a good plan, I think, because the Windows driver for that card is crap.
That said, I don't know for sure why it's not working. Try bringing up the interface before setting the wireless parameters. i.e., ifconfig wlan0 up Then, iwconfig wlan0 essid, mode, etc.
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