To fetch history lines data normally you need a third party report tool like crystal reports or write an sql query.
But there is a nifty workaround, but you need to do this for one service call at a time:
run the following command:
sd_dataform.bat "history line service call" +"Service Call.ID=" -ListAlways
You must substitute with a service call id. A window will be opened. At this window make a right click and select any report style except standard. Then do "Print Preview" and select "Publish". There you can copy-paste to excel!
Another way is to set up an explorer view with a leaf of history; then you can select a call, highlight everything in the leaf and copy/paste to excel. Like George's method, it only works 1 SC at a time.
If you want to do it for several SCs then a reporting tool is probably best.