I found this passage in TW which clears it up as impossible.
TW P. 144
A ’Mech standing in Depth 1 water may make any physical attack, provided the unit meets the normal requirements for each type of attack. However, the physical attack cannot be made against a unit that is underwater, unless the attack begins underwater as well. For example, a ’Mech standing in Depth 1 water adjacent to a submerged submarine in Depth 1 water can only make a kick attack, since the kick attack occurs
completely underwater. The ´Mech cannot make any other attack, including a charge or death from above attack, against the adjacent submarine because a portion of the attack would take place outside the water.
Your Griffins don't have the jump movement to reach my Griffin, however your Wasp would be able to reach and make a kick attack only.