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You should use a combination of thrusters. Atmospheric as long as they are effective then hydrogen thruster to get outside the gravity well of the planet and finally ion thrusters in zero G.
It is possible to do this all with Hydrogen thrusters but this is not very efficient.
Examine the wiki for details
http://spaceengineerswiki.com/Thruster
Here is a tutorial that explains in detail.
https://www.youtube.com/watch?v=UMtWSSMdO7w
If they are off/not connected to either the tank or the generator, that would explain why you fall back at around 7k meters. That is where atmosphere thruster more or less go to 0% thrust on the earth like.
One thing that might help if they are plumbed and working:
Turn them off until you get to around 6k meters and then use thrust overide to keep you just barely accelerating to max speed.
This will let you save hydrogen while your atmosphere thrusters still work and save hydro as you continue out of the atmosphere.
OP, you may also not be producing enough thrust with that single hydrogen thuster to escape the planet's gravity. See that wiki page I provided. All the information is there for you to calculate your thrust requirements. Remember that 9.8m/s accelleration is the minimum to hover at sea level.
It IS efficient to get out of a planet's gravity with only hydrogen thrusters. An experienced player would know that you can override Up thrusters, turn off the rest, and lower the override setting as you get higher, in order to save hydrogen. It is literally the easiest thing in the world. I've done this plenty of times, including with heavy ships, and never went past 60%.
Ugandan, everything Bahamut said should work.
If not, your ship may be too heavy, meaning you don't have enough hydrogen thrusters to push you up, which means you must retrofit! ^_~
http://steamcommunity.com/sharedfiles/filedetails/?id=1264169331
Otherwise you'll need to lighten the load.