If you are aiming for efficiency in maintenance for survey vessels I always feel it works best to use survey carriers. You have a main vessel that has a long deployment life and plenty of MSP, then design survey work craft that have little else other than a high efficiency commercial drive, and the required sensor type. The survey craft never suffer any failures due to only being out a few months or so, and the carrier can be designed to go for a good few years with no issues and have enough MSP to solve any possible problems. In addition you get to survey systems fast and with a few clicks using subordinate TG's.
Though, it's worth noting that putting a jump drive on any military design incurs extra cost due to maintenance, it may be negligible due to the lack of mass-production of said vessel.
Though, in that vein, it reminds me of an idea I played around with, the hangar vessel as you mentioned, but rather than make gravity survey ships at all, make "Gravity Sensor Modules", which are designed essentially like so.
Tone class Sensor Platform 282 tons 2 Crew 104 BP TCS 5.64 TH 0 EM 0
1 km/s Armour 1-3 Shields 0-0 Sensors 1/1/1/0 Damage Control Rating 0 PPV 0
Maint Life 0 Years MSP 0 AFR 56% IFR 0.8% 1YR 47 5YR 705 Max Repair 100 MSP
Intended Deployment Time: 0.1 months Spare Berths 2
Gravitational Survey Sensors (1) 1 Survey Points Per Hour
This design is classed as a Fighter for production, combat and maintenance purposes
The reason being for this is that you can load them in to the hangars of the vessel and:
-They won't contribute to the maintenance cost via their huge-expense sensors.
-They will contribute to the task group's gravity survey capabilities and speed.
-They are easier to build, in the sense that you shift the cost of one of the most expensive components of a ship into fighter factories.
The only particular downsides I see is potential problems with nested-parasite management, and decreased flexibility in the sense that you can't split the task group to scan multiple points simultaneously, though you will be able to use more efficient engines, at least.
That said, in general, I tend to avoid putting jump engines on military designs unless they're specifically designed as some form of assault craft.