I would think driving in to a lake bottom would be much easer than on solid dry ground, but I do not know how one could make a hand or person carry unit,
I built a tractor mounted some like a pile driver, the weight alone is 300 to 400 pounds,
about the only other way I would now is a air or hydraulic unit that worked some what like a jack hammer, but my bosh electric hammer is a good tool, and will bust up 6" concrete, with reasonable speed, but even if I had a end on it that could saddle/cap a 6x6" post, I really do not see it being that effective on driving a large post, even in a soft situation,
keep us in formed on what you come up with,
if one built a pontoon type boat/barge and mount your driver in the center, with some type of mast to mount the driver on even the jack hammer type unit, would be 70 to 80 pounds at a min, and I would think one would want some way to lift it up and lower it as the post drives,
a few years ago, I bought the small,
98E Basic T- Post Driver, T Post Driver, Post Driver, Fence Post Driver - Rohrer Manufacturing and they make larger, for larger pipe posts, they use very small amount of air,
I do not know if you made a pipe with a box to cap the wood post, if there large unit would drive a 6x6 wood post in a lake bottom,
99E-W Post Driver 3 -1/2" Max Diameter Recommended For Highway Guide Post, Drill Stem - Rohrer Manufacturing it is still 50 pounds, (48lb) and if one needs an adaptor it would set on top, of the post it would be tall, and I would think you would have to work off of some kind of floating deck
one could call them and talk to them,
there are some other drivers out there that hydraulic and air, one could look into them as well, but for some thing that is man hand able and yet capable of driving a post is going to be hard to find,
My two cents.