I recently had this type of work done also. I needed the depth of three existing drilled shafts for a telecom tower because the original foundation design drawings could not be found. Being in Florida, I used a company called GRL with offices in Orlano to do impact testing with a Pile Integrity Tester (PIT). The test costs about $1500-$2000 and works well to get a signature of the depth of the shaft non-destructively. Basically, a little hammer is used to tap the top of the shaft and the sound wave return time is monitored.