That depends on many things such as the angle at which one is falling, the surface onto which one falls, and plain old luck. Nevertheless, when 'diving' into concrete it would seem that 15-20 meters should be lethal.
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It is unlikely, but it depends on how high the cliff is, and what kinds of things that you do to ensure survival, like if you had a special amour or something. I wouldn't suggest it though.
A lot of people, in thrill-seeking and other things, want to get as close as they can to the edge... to get bigger thrills by taking bigger risks. I say there are plenty of risks in regular life, and you should stay as far away from the cliff edge as you can. Better to survive and be alive to enjoy more things. :)