I try to refactor out as much code as possible. Ofcourse the protocols should be implemented separate from the Controller, that's the first step but the implemented methods themselves can be made as thin as possible as well.
For instance the height could be calculated a static function on the UITableViewCell implementation as I think that's the object that should deal with layout.
The headers and footers should be separate UIView implementations not something you build there. Methods that are associated with them then can use methods on those classes instead of inline code.
I think if the delegate / datasource classes implement a lot of methods you want to reduce them to 1-3 lines of code between the braces each so you get a complete overview of what each does within 1-2 screens of information.
