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We present three-dimensional phase-field simulations of martensite microstructure formation in low-carbon steel. In this study, a full set of 24 Kurdjumov-Sachs symmetry variants of martensite is considered. Three different carbon compositions are investigated in order to reveal the effect of carbon content on the martensite microstructure formation. The simulations are performed using the finite strain framework which allows considering real martensite transformation strains. Using Neuber elasto-plastic approximation to the mechanical equilibrium solution, realistic stresses and strains can be obtained during martensite formation resulting in realistic mechanical driving forces for the transformation. The simulated microstructures are compared to experimental results for three carbon compositions. Good agreement between simulated and experimental results is achieved.