With three exceptions--"Schindler's List", "Saving Private Ryan" and "Scared Straight" (I'm so glad I didn't see that last one until UPN did an update showing what has happened to the people since the original)--I don't think I've ever heard the F-word on programming that wasn't live on broadcast TV, except possibly in a movie that wasn't properly edited for broadcast TV. I know I've heard the S-word in that situation.
Wait, one more. I think it was before the Janet Jackson incident, but I need to add PBS. I've forgotten what program.
I have heard the S-word in a number of situations. "E.T." was aired unedited in the early 90s. Spielberg wouldn't allow it to be touched. There were several programs with an MA rating (or M) which allowed the word sometime after the V-chip ratings began. I remember a presentation of "On Golden Pond" on CBS which had a variation of the word, but the rating was TV-14, with an L, of course.
I heard the S-word in a Christmas movie which was close to being family-friendly but had other problems which would make it inappropriate for children. Later, the sound went out in a few places, leading me to believe someone was monitoring the movie and bleeping where needed. Or maybe the editing wasn't done effectively enough.
I saw "Stand and Deliver" on PBS and the S-word was left in. It was the only time it was used and hardly offensive.
Incidentally, with 7 uses of the F-word, "Schindler's List" may have actually been cleaner from a language standpoint (it had other reasons to be offensive) than most prime-time TV.