In this paper we describe a solution to perform autonomous surveys taking advantage of a cooperative multivehicle setup. In the proposed configuration, an ASC provides –through an USBL- absolute positioning and communications to an AUV. Thus, by following the AUV with the surface vehicle we facilitate the reception of USBL measurements in the AUV regardless of the extent of the mission. This turns into an improved navigation on the AUV’s side, with the drift bounded thanks to the absolute measurements. Experimental results show that the proposed algorithm is able to maintain the ASC at a close distance and improve the navigation of the AUV. Moreover, the bathymetric maps built from the AUV data are consistent enough to enable the automatic detection of present targets and program further localized missions in the area.