It isn't only iOS devices that do this. All operating systems probe for SSIDs that they have been previously associated with, thats what makes devies like the WiFi Pineapple possible [0].
However, Apple devices do do "optimization" to get on the network quickly. If you previously associated with a SSID, it'll get reconnected much faster.
[0] http://hakshop.myshopify.com/products/wifi-pineapple