Wasps in many places
I'm new to this forum, but not new to the problem of wasps in boats.
If you're allergic to wasp stings, be sure to get a doctor's prescription for an epinephrine injector and keep the "epipen" with you. I keep two on hand.
If your boat has been sitting unused for weeks or months, you may have more than one nest of more than one species of wasp. There's lots of information online to help you identify what you've got (try a local university coop ed similar to this one
http://www.ipm.ucdavis.edu/PMG/PESTNOTES/pn7450.html).
Household foggers for insect control can be useful if the wasp nest is in the cabin area. It may not work for other parts of the boat. The cans of "wasp spray" are typically designed to be sprayed directly on the nest (or in the entrance hole), but that requires that you can see and spray the nest. A combination of the two methods might work the best.
After my boat had been sitting on a trailer for a year, I found seven paper wasp nests (1-5" dia. paper combs) distributed around the head, main cabin, cockpit locker and engine well. It took repeated searching and spraying to deal with them all.
Check with your local marina (or Dept Ag/ Univ Coop Extension) for recommendations for companies that will save you the hassle.