Brake fluid is hygroscopic. So, basically over time it absorbs water. The water boils and give you tiny bubbles. this is why you should change the brake fluid every 2 years
As above though, I'd be looking for leaks and then having your brake fluid changed for new fluid. Then look at vacuum to the servo and stuff?
What's the pedal like with the engine off? Press it hard and it should go down so far, but if it keeps falling that's certainly a leak, if it's spongy then it's air. (lots of air will allow the pedal to travel to the floor as well.)
If it's going between light and heavy pedal with the engine running then it could be a brake servo problem or you've got a tiny vacuum leak on the vacuum line for your servo.
That's all I know