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-Land on a planet
-Exit Ship
-Find an iron deposit
-Pull up your scanner (default 'F')
-Keep the iron deposit in your view until it is scanned (bar fills up, sound effect, notification of new discovery)
-Do this for X amount of unique types of deposts (i.e. you can't scan the same type of iron deposit)
This mission type is for scanning mineral deposits, so technically its not just iron.
As for location, pretty sure it can be anywhere.