Dealing with an emotionally abusive parent??

My dad was a ranger in the military and he’s always been strict on me. I have strict rules that I abide by, I make straight A’s, was a competitive gymnast for 13 years, and really don’t do anything that would upset my parents (not trying to sounds cocky at all just trying to explain to you guys). However, my father still takes it upon himself to blame everything on me (nothing is EVER his fault), tell me i’m a failure, good for nothing, stupid, a retard, etc. Obviously this upsets me because I try my best and really I feel like it’s all to please my dad, which in the end he’s never pleased with anything I do no matter how I do it. Today I was coming up to do the dishes which he told me to do an hour before but I got caught up with something else and he was already doing them, I said thank you and apologized but he still said “yeah you were an epic failure yet again, it’s fine.” I don’t understand it, I don’t think anyone deserves this from their own parent. Has anyone ever had this happen to them before?!

Ps: I also feel wayyy more relaxed and better when my dad goes away. I feel so much happier, is that weird?