So I designed my own and based it on the old folding wooden ladders. As usual it's a prototype with cheap wood and cheap finish. But after a season of trials it works perfectly, it's strong and comfortable. I use it to get on the boat when I'm at the ramp as well as swimming, and if I should make an unplanned dismount (as we say in mountainbiking). One reason it's so stable is because it's attached to the boat with galvanized "L" brackets through bolted with fender washers, and it doesn't budge.
The only negative I know is that it is an unsightly isore hanging off the stern of such a small boat. So, maybe I'll make it demountable...maybe pintles and gudgeon.