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Inspection of pile foundations supporting harbor bulkheads

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Does anyone have any experience with the inspection of timber piles used in a 
foundation to support harbor bulkheads.  I have a need to perform such an 
inspection to determine if the pilings are still structurally sound.  The only 
method which I know of is brute force.  This would involve shoring and digging 
up the foundation to perform a visual.  Sounds very expensive.  So if anyone 
has any words of advice or recommendations of firms whom deal with this topic 
please let me know.