Take off one of your floor vents and you can usually see how your floor is built. For that year HR I am guessing that your floor is built using sandwich construction with foam in between layers of OSB. The sandwich, may be 2-3" thick and is set on a steel framework. If that is the case, you may have to remove all of the OSB, foam, and the bottom layer against the frame before you can start building it back up. How bad the bottom layer against the steel is will determine the best way to complete the repair. You can use spray foam to replace the damaged foam and once that is at the proper level, then you can glue a new top layer of plywood.