Ocean exploration and inspection missions involving underwater robotic systems have gained increasing popularity in various domains such as marine science, archaeology, and defense in recent years. However, deploying vessels and robotic solutions for such research activities entails significant costs for acquisition and maintenance. This is primarily due to the logistical challenges involved in transporting equipment between locations, which necessitates a substantial financial investment, in addition to expenses associated with crew and research personnel. Effective planning of survey campaigns is crucial to avoid costly missteps arising from poor organization. It ensures that expenditures are justified and that objectives are achieved without unnecessary setbacks or errors. In this context, the utilization of simulation methodologies adds invaluable value in mitigating costs and exploring various solutions before the mission is carried out in the real world. Their utility extends beyond the examination of specific sensors or setups; they are also a valuable tool for planning different campaigns with different mission objectives. In this paper, a simulation framework that integrates an Autonomous Underwater Vehicle with a Multibeam Echo Sounder as the perception sensor is presented. The objective is to streamline acoustic survey mission planning and generate synthetic acoustic image data incorporating the modeling of typical error sources, simplifying the evaluation of output data for real applications. This system can also be utilized as a Software-in-the-loop system for testing and verification of control systems and algorithms.