Injecting epoxy is fortunately pretty easy. It's best to cover the area with masking tape, as the epoxy will run out and/or drip on the deck. The "toughest" part is properly identifying the extent of the soft spot and carefully drilling the holes. Press on the deck slowly and methodically to determine the extent & size of the soft spot. Draw the outline of it right on the masking tape. Then mark your "breather" holes about ever inch or two all along the border, with a single hole in the center. When you do drill the holes, be VERY careful to drill only through the outer layer, with light pressure. Once it goes through, stop. The foam is very soft. Use the drill bit in your fingertips to drill out the foam. Once you're all set up, use plastic syringes to inject epoxy into the fill hole in the center. Keep going until epoxy starts to flow out the breather holes. Once each breather hole starts oozing epoxy, cover it with tape to force epoxy to the next one. Keep the drill handy in case some of your breather holes end up outside the soft spot... if that happens, you won't get any epoxy in or out, and will have to re-drill the hole closer to the center.
As for epoxy, some people recommend git-rot epoxy. I use west systems 2 part epoxy (105 resin and 206 slow curing hardener) with some filler (I think I've used the 404 filler in the past) to try and thicken it slightly and reduce the density/weight. Bought at West Marine with the pumps, it automatically measures out the correct ratio. Add epoxy and filler first, mix thoroughly until it's a syrup like consistency so that it still flows well, then add & mix in the hardener.
The drill holes can be filled with gelcoat or marinetex epoxy putty to make them less apparent if you want. Gelcoat would have to be color matched, which is a bit challenging, but you can buy it in a gel/paste form.
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