There are compaction meters available that may help. Try Spectrum Technologies for a start
Soil Compaction Meters (3) types ranging form $300 to $1,800
Soil Compaction meters (often called penetrometers) are used to determine the density of soil and other material. An operator pushes a rod with attached (ASAE standard) cone into the ground. The resistance of the cone is displayed as it is pushed in the ground.
Features a stainless steel rod with depth marks of 3,6,9,12,15 and 18 inches. Analog gauge reacts to pressure applied to cone while penetrating soil.