What Snaf said.
The first stage motor has a section in it that is used to ignite the motor above it when it jettisons. So on and so forth for each consecutive stage until the last one, which just has the usual clay plug of a normal rocket motor.
A friend of mine makes rocket avionics chips. Little thing the size of a USB flash drive that you stick in the nosecone of your rocket. You can attach several pyro wires to it and program it to burn the first stage, coast until it reaches a certain altitude, ignite the second stage, coast until it reaches apogee, discard a section, fall until it's 1000 feet above the ground, and then deploy the parachute.
He holds several world records, and one of his rockets has nearly broken mach 4 iirc. He builds them out of carbon fiber. All of them under half a meter tall.
You guys should do that.
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