I don't feel like you are getting the best responses here.
First, The idea of filling it with foam is not a good one. You will weigh the boat down and make it less bouyant. Nothing lighter than air. Ok maybe Hydrogen and Helium but don't try filling hulls with that.
Now to fixing your boat. You have to decide how extensive the damage is and if it is worth fixing.
To fix the spot where the lip is separating, cut a hole on the opposite side of the hull big enough to get two hands through and access the whole area from the inside. Cut it nice and oval and save the piece. Fix the other side with at least 4 layers of fibreglass overlaying the crack on each side by at least three inches. Don't forget to sand with 100 grit prior to putting the fibreglass on.
Now where you cut the hole in the boat build a lip around the innerside of the hole with a couple layers of glass. After the lip sets up sand it and then glass in the panel that you cut out.
Fill everything with Formula27 and sand. Now you can touch it up with gelcoat to make it look pretty.
The soft spots are often not worth fixing. You can leave them alone if they arn't in a load bearing area. If they have to be fixed you can get to the underside just like my previous method and remove all of the loose stuff and then set up at least 4 layers of glass from underneath the problem area. You may have to cut through the first layer and scrape out all of the old loose foam to get to the area that needs to be fixed.
Good Luck,
Mike Hill
www.stlouiscats.com