Today I learned that one Space Shuttle flight (in 1985) successfully used the Abort-to-Orbit recovery plan (changing its flight path in real time in response to an engine failure during ascent). The overall mission continued, accomplished its other objectives, and was considered a success despite the engine failure.

Some 2015 coverage of this mission:

https://www.americaspace.com/2015/07/25/going-to-spain-30-ye...

https://www.americaspace.com/2015/07/26/cola-and-solar-wars-...