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The booster's trajectory targets offshore or away from droneship in case landing burn fails. The landing burn brings the booster onto the landing pad. See CRS-16 where the booster landed in the water when the booster lost roll control when the grid fins failed.

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They've had a few "on purposes misses" over the years. The Falcon Heavy demo launch had the center core purposely miss the droneship as it was coming in way too fast since 2 of the engines didn't light.

IIRC it purposely missed the droneship by only a few hundred meters, but it was going something like 300 miles per hour!

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