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KSP Equations
Posted on Wednesday, March 27 2013 @ 13:08:03 PST

Acceleration on the planet:

T = Engine thrust
S = Current Ship Mass
G = Gravitational Constant
M = Mass of Planet
r = radius of planet
d = current altitude

Estimated Altitude to launch to (ignoring drag):
A = acceleration of ship
t = time

Minimize gravity losses:

For planet Kerbin, the function has a maxima at approx -1.5708 + 6.28319n for every n. 86 degrees seems like the best angle to stay at in atmosphere. Note: Kerbin rotates counter clockwise so always keep a heading of 90 degrees, unless a specific inclination is needed.
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