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Elon Musk discussed in a question/answer session after the recent Falcon 9 launch that interplanetary missions are likely to use a landing barge, due to high horizontal launch speeds required for such launches. However, for an interplanetary mission, it seems that firing straight up might be preferred, or at least near to it, thus increasing the speed of the rocket, but still essentially being vertical. High horizontal speed isn't necessarily needed for interplanetary missions, as they don't need to orbit Earth, however, a high horizontal speed isn't precluded.
What is typically done for interplanetary missions as far as the launch profile goes, and will the Falcon 9 change this launch profile to make it easier to recover the rocket?