Steve,
Yes, all of the staging was successful . . . As for altitude, remember that this was the late 1980's, when electronics were basically non-existent and motor ejection was used on all three stages. Without an altimater or the use of optical tracking, altitudes were, at best, guesses !
The staging method used Mercury Switches with AG-1 Flashbulbs/Thermalite or FSI Electric Matches. Once armed, everything was "hot" and it was going to fire, no matter what or wherever the rocket happened to be pointed, at the time.
Dave F.
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