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There are 1891 rooms (map squares) in Castlevania: Symphony of the Night. You have to have been to all of them to achieve 200.6%. For the last .1% to count, you have to defeat Shaft, enter the final battle with Dracula, then use a Library Card to return to the normal castle. You'll then have to walk back to the boss room, defeat Shaft again, and then defeat Dracula.
To easily defeat Dracula, equip Alucard's Shield and the Shield Rod, then press the buttons for both arms at the same time. Hold the button for the shield, and simply touch Dracula for a few seconds. This also works on anything that menaces you to the point of frustration.