I like the way you're thinking, so I've got 3 suggestions for you.
#1) To use the motor, essentially you'd have to tap into the "pee stream" or another spot on the outboard's cooling system (most of which is internal), route it outside the motor and into the transom, and then rig up some sort of heat exchanger into your FW tank like this:
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Of course you wouldn't have any temperature regulation going this route, eventually your water tank would reach the 140 degrees of the engine which may not be a good thing.
So #2,
Alternately you could probably just add in a small 12v water heating element to your existing tank - and let's be honest you really don't want HOT water, since you can't mix, you want WARM water. I imagine if you mounted this on a stainless plate you could pull it off without risk to the tank but YMMV. You'd also want to figure out a thermostat system although with the small size of the element you may never need it.
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Doing the math, you might need two, depending on how long your diving runs are and how hot you want the water to get. I like the idea of a low-power heating element though.
And then #3,
Last but not least, if you've got $ to burn, this really intrigued me and I thought about trying it with my own water heater:
http://www.isotherm-parts.com/product-range/cooling-units/compact-systems/sp-cooled
Essentially, instead of plumbing the fitting to your hull, you'd just plumb this fitting to your freshwater tank. Like the heat exchangers above I'm sure there's plenty of motion in that tank to keep the water moving around it. This is essentially a heat pump - it will move the heat from the chill plate into the water tank. Again, you'll have no temperature regulation, and I don't know the actual wattage transfer or how hot it could get the water. But it would have the convenient side effect of CHILLING another compartment while heating your water, if all you do are day trips something like this might kill two birds with one stone, but I'd try to find a btu calculation for how much heat it would actually produce.