The subject of frost heave is actually a lot more complex than is generally realized. Frost heave refers to lifting of a slab due to freezing of moisture in the soil below the slab. This occurs because water expands when it freezes (but everyone knows this). However, actual frost heave requires more than moisture in the soil and freezing ground temperatures.
In order for frost heave to occur, the moisture in the soil must be "free" moisture, meaning it is not chemically bound to the soil. For example, clay typically has a large amount of moisture chemically bound to the clay molecules, however that water is not free, and will not freeze. Coarse sand and gravel may have free water in them, however they typically do not produce frost heave because the ice expands horizontally rather than vertically underneath a slab; no vertical expansion, no frost heave.
The soils with the greatest problem are fine sands and silts. Both of these materials will hold free moisture, which will heave if the soil freezes. If your foundation is built on clay, coarse sand or gravel, it is not likely to frost heave, regardless of how deep the freeze line is in a given winter. In that case, placing the foundation deeper is not important, except to meet code, and you may be able to get a variance from the building inspector if you get a sign off from an engineer.
On the other hand, if your foundation is built on fine sand or silt, it will almost certainly heave if the soil is saturated or near saturated prior to freezeup. From your description, there has been no problem of heave in 70 years, so it is likely that you are built over soils not subject to heave, and you may well be able to get approval from the building inspector if you produce a letter from an engineer pointing out the relevant facts.