I'm glad to see the launch went well. Can you imagine how much planning has to go into a mission that plans to rendezvous with an asteroid, take a sample, and fly it back home?
Yeah watching that single SRB on the Atlas V was fun, never works for me in KSP gotta ask JPL for their version of mechjeb =)
Scott Manley recently did a great video on this. You just need more gimballing (basically). If I wasn't on my phone I would post a link.