To calibrate the esc's you will need to hook each one individually into your receiver. Turn on your transmitter and put the throttle all the way wide open (remove the props first) then plug in your flight battery. Wait for the beep, then drop the throttle all the way down. Do this procedure for the remaining 3 and you will have them all calibrated. That sets the throttle range and that is why your motors all start at different times.
A programming card won't do this.
https://www.youtube.com/watch?v=RMOsSygpN3Q
You "can" do all four at once but it can be confusing.
https://www.youtube.com/watch?v=UUaAH3SS2Vo