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I can see from your photos how you had access. I misunderstood that you had a center piece removed allowing access to the sides and stern. Bummer on the foam. Hopefully the voids are not too bad. But you know a lot more about how the foam works now which I think is half the goal. One thing about fiberglass it seems is if something doesn't work out the way you thought it would, there are always ways to fix it. Can you drill holes where the voids are and pour in foam? How big are the voids?

My attempts at putting back two panels did not go well. The only right thing to do in my case was to remove them and lay new glass. I only have the single layer of CSM skin in so far and am holding off since I think there will be overlap with a nearby damaged section which I am now grinding back. Posted a couple photos on my personal page of the foamed area, and after laying CSM. It certainly looks better than it did before. Frustrated with the panel experience but not that big of a deal and not giving up. The smaller repairs have all gone well and are encouraging. We'll see how the glass laying goes.

Will be curious to see how you approach the non-skid. I have seen a product for doing this but it is expensive compared to painting in a non-skid material. Interesting idea of molding the current non-skid. Do you know what material you will use to create the mold?