Same problem different thread!
I replied to another thread on the same subject yesterday:
My 2013 GS also developed the same problem, but I sold it before the issue was fixed!
However, my new 2016 2600 miler is not as good as I would like so I had a BM technician take a quick look.
He told me that its not a bleeding issue (you probably wont get any air out) but down to the fit of the rubber piston seals in their bores i.e. Very tight. (Cant quite remember the exact wording or figure out the logic!) sure someone will!
He went on to show me that by physically pushing the calliper against the disk & thus forcing the piston fully back into its bore that the brake pedal would have loads of movement. By activating the brake a few times the pedal was back to the top of its travel & firm again (try it!).
Another of his customers had admitted to not using the rear brake as much due to the brakes being linked, this had also resulted with the same problem.
I'll start using mine a bit more & see how it feels!