back in the old days, when I detailed cars, here's what we did:
we had hot running water and filled up the floorboards with it - the scrubbed with a brush and a mild shampoo - then shop vac'd it. if you've got heavy stains, after that, use a good spot remover, do it again. The hot water maked all of the dirt and crap rise out of it.
There are two ways to get the excess water out after vac (it doesn't get everything) - first, leave your truck idling with the heater on full blast and crack all of the windows. We'd leave them running 30-45 minutes. that usually does the trick. If it doesn't, and this is bad, bad, bad, the detailing trick was to hammer a flat blade screwdriver through the floor board to act as a drain.
I soaked my 60 when I first got it - cleaned the carpet quiet well. I was parked on the street, with a natural lean tward the pass side and left those doors open while running the water through. I left the windows cracked overnight and it was dry (but I live in a pretty dry area)
Or you could just spray Fabreeze all over everything.