His career mark of 305-96-7 is a National Association of Intercollegiate Athletics record for most coaching wins, and he ranks ninth in wins among all college football coaches.
Westering had been in failing health over the past several years,and family members were at his side when he died, said an article on the PLU website.
Born Dec. 5, 1927, in Missouri Valley, Iowa, Westering came to Pacific Lutheran in 1972 after coaching at Parsons College in Iowa and Lea College in Minnesota.
Under Westering's direction, PLU won National Association of Intercollegiate Athletics (NAIA) Division II national titles in 1980, 1987 and 1993 and finished as NAIA national runner-up in 1983, 1985, 1991 and 1994.
After the school transitioned to NCAA membership in the fall of 1998, Frosty led the Lutes to the 1999 NCAA Division III championship, which it won by becoming the first-and-only team to win five straight road games.
During his 32 seasons at PLU, he had a winning percentage of .784, and no PLU team under his guidance ever had a losing season, according to the PLU website.
He earned NAIA Division II Coach of the Year honors in 1983 and 1993 and was the NCAA Division III Coach of the Year by the American Football Coaches Association, Football Gazette magazine and Shutt Sports. Frosty also received numerous conference coach of the year awards.
He retired at the end of the 2003 season, and his son Scott took over as head coach of the Pacific Lutheran football team. He still coaches football at PLU today.
Former players said Westering emphasized sportsmanship and athleticism as more important than winning or losing the game.
He also was in high demand as a motivational speaker and wrote a popular book, "Make the Big Time Where You Are."
He is survived by his wife, Donna; five children; and 13 grandchildren.