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However, if you really wanna know how to get that right, I highly recommend watching some of Scott Manley's tutorials on Youtube. And there are also lots of awesome mods. BetterBurnTime for example would give you neat timings when and how long to burn for whatever you do.
2: At 30 seconds to AP, start burning parallel to the horizon. Ie. towards the horizontal white line on the navball. Keep your time till AP between 10 and 30 seconds for the duration of the burn. (You can check it in map view.) Nose up to increase time till AP, nose down to decrease. Imagine AP is a ball on your nose you are pushing ahead of you, don't let it get behind you. (KER mod helps a lot with this, I recommend it. If you are opposed to modding, doing it from the map view with the navball up is the best way.)
3: Cut engines at 70k PE. Congrats. Nice, circular orbit.
Also, if you want to instead lower the apoapsis, you can burn retrograde at the periapsis and circularize from there.
https://wiki.kerbalspaceprogram.com/wiki/Tutorial:_How_to_Get_into_Orbit
https://www.youtube.com/watch?v=_q_8TO4Ag0E
https://github.com/jrbudda/KerbalEngineer/releases
SCENARIO:- (Stock Kerbal X-1) launched 90 degrees east
push my apoapsis above 70,000m.
to keep my apoapsis at that height i actually point the nose of my ship up or down respective of the horizon (Blue or green side on Navball). prograde is the heading of your ship, not the horizon.
The dividing line between the blue(sky) and ground(green? or brown?) [Sorry i am colour blind but from here on i'll use blue and green]
is 0 degrees. (thats the horizon directly in front of you)
{In these shots my heading is actually the horizon}
If i point my ship left (blue side of prograde marker my Apoapsis will rise.
if i point my ship right (green side) of prograde my Apoasis will drop.
e.g
https://steamcommunity.com/sharedfiles/filedetails/?id=1416391920 3 minutes in, my velocity is 1933m/s my apoapsis is 75,000 ish and i'm raising it by burning towards the sky at 5-10 degrees
https://steamcommunity.com/sharedfiles/filedetails/?id=1416391979 time now is 4:17. My apoapsis is still 75,000m my velocity is now 2153m/s (my fuels dropped quite a bit) but now i'm pointing the nose down to maintain 75,000 while building speed to increase my periapsis.
Essentially i'm manually adding a bit of Radial in and/or out (Towards or away from Kerbin) to Twist my orbit ahead or behind me while keeping the same heading and inclination. Sometimes i may pitch up or down (Left or right on navball) as much as 25 degrees
if i put the ship marker below my prograde vector i'd be going anti-normal which would push my orbit towards the south pole. and above would push it towrds the north pole
Knowing how the navball works means to can correct tilts and wobbles of unstable ships or poor launches while you gain orbital speed
Prograde/Retrograde is the X-Axis - Left to right
Normal/Anti-Normal is the Y Axis - Top to bottom
Radial in/Radial Out is the Z Axis - Forwards and backwards.
Hopefully this helps
As for what went wrong with what you did; I'm guessing yer ascent was too steep. So when you did yer burn on yer prograde you were still adding a lot of vertical altitude to yer trajectory. Just a tip (again don't know exactly what you did) you want to be a lot more horizontal. By about 40,000 meters you want to pitch yer rocket over so that the prograde is just barely above the horizon. If you do it like this, by the time you want to do yer orbital burn very little of it will go into increasing yer vertical altitude, and instead the majority of it going into making orbit.
But yeah, I'm guessing yer ascent was too steep. You want yer prograde to be a lot closer to the horizon.
It sounds like you are flying the profile generally correctly, but you simply don't have enough dV to achieve orbit. Try switching out your top engine for a Terrier instead of a Reliant. Terriers are lighter and more efficient in a vacuum than Reliants. That one change might be enough.
Incidentally, I get the feeling you aren't really using RCS. Do you actually have RCS thrusters on your craft? They aren't necessary on simple craft that aren't docking anywhere. The built-in reaction wheels in your pod should be enough to control a small craft. Adding fins with control flaps (deluxe deltas, for instance) will help in the low atmosphere.
You could use Reliants PLUS SRB for start. With more tanks. So SRB help while those fuel tanks are still full and heavy and are dropped after. Best with some tanks on top of them, which were emptied by Reliant during SRB burn. Just make sure crosfeed is on. So you save on tank decouplers and have less dry (empty tank) mass hanging later on when the SRB are gone.
Otherwise you have great launch engine onboard which isn't used at launch. That's illogical. Why make it "payload" and not use all the power you have? Drop tanks instead to make it even better.
I actually did what you describe (Reliant on Thumper) myself once creating very low science Mun lander for my hard career where you land on Mun with your third launch already (4th goes to Minmus, 5th lands on Duna, 6th Ike, 7th Dres, 8th Pol and so on).
But that is not a great way to build ships. I was just going to extreme due to low part limits (30) and science (75) so early on.
Also KSP has integrated Training missions which should teach you basic stuff about flight.