Here's that link, applied to your code:
CSS
#frame { background:pink }
#panel { background:orange; width:200px; float:left }
#content { background:khaki; margin-left:200px }
#foot { background:cornflowerblue }
HTML
<div id='frame'>
<div id='body'>
<div id='panel'>
Side panel, fixed width.
</div>
<div id='content'>
The rest of the content, should be dynamic width and fill up rest of space
horizontally.
</div>
</div><!-- End #body -->
<div id='foot'>
<div>FooBar.</div>
</div>
</div><!-- End #frame -->
Works pretty well! Although, IMHO, you don't need the frame or body (but I don't know the master plan). That would look like this:
<div id='panel'>
Side panel, fixed width.
</div>
<div id='content'>
The rest of the content, should be dynamic width and fill up rest of space
horizontally.
</div>
<div id='foot'>
<div>FooBar.</div>
</div>
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