1. A cat, most likely, reaches terminal velocity at around 7 floors of height 2. only 5% of cats (not sure how accurate this data is, but even if not entirely, it's still a minority of cats) die falling from such height (even if they fall on concrete). 3. When falling from a larger height a cat doesn't accelerate anymore. 4. Conclusion: a cat can theoretically easily survive falling from any height.
Final conclusion: A cat can, and probably will survive being dropped from a helicopter or an airplane without a parachute.