Yep, that's spray foam residue. Looks like yours had foam in the bottom at one time. Almost for certain, it was removed because it was breaking up as the hull flexed. Means you should look very very close at your bulkheads for and aft of the fuel tanks. Also tabbing on the stringers, especially the stb side.
If it was me, I'd pull the tanks. If the bulkheads are ok, there are no hairlines in the hull near the stringers or bulkheads and you are not planning major cosmetic work on the cabin or deck, I'd stop there and just keep an eye on things. Seacrafts are so tough that any problems will develop slowly. There is also knowledge to be gained as Strick, Blue Heron and I put some time on our repairs.
If the bulkheads need replacing, you might as well go all the way, cut the necessary holes, put in the extra bulkheads, etc.
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