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Then, you select the body you want to probe, and there will be an icon on the bottom that allows you to launch a probe, which expends Boost and Money (or space resources later on once you have shipyards)
Sounds great, right? Except for one thing...
You can't found outposts until it's been surveyed. AND, you can't cancel a launched survey probe or try a new survey if one has already been scheduled.
TLDR; Ended up waiting 5 years in orbit waiting for a survey to complete.