It might depend where in the flight the engine fails, assuming we're talking about the first stage. If I had to guess, a GTO mission (placing a payload in a 36,000 km x 350 km elliptical orbit) could still be successful with an engine failure in the first stage after 65-75% of the fuel had been burned, and the vehicle was generally lighter, allowing the burn time to be adjusted longer to reach the same velocity at the point of first stage cutoff and separation to ignition of the second stage. But this guess comes from dozens of hours spent playing Kerbal Space Program....