00 00 00 C8 10 40 00 40
00 01 00 02 00 01 00 01
00 00 01 00 00 00 00 01
00 00 00 80 80 01

The final algorithm is then as follows:

     -----------------------------------

     angle_y = D = -asin( mat[2]);        /* Calculate Y-axis angle */
     C           =  cos( angle_y );
     angle_y    *= RADIANS;

     if ( fabs( C ) > 0.005 )             /* Gimball lock? */
       {
       trx      =  mat[10] / C;           /* No, so get X-axis angle */
       try      = -mat[6]  / C;

       angle_x  = atan2( try, trx ) * RADIANS;

       trx      =  mat[0] / C;            /* Get Z-axis angle */
       try      = -mat[1] / C;

       angle_z  = atan2( try, trx ) * RADIANS;
       }
     else                    /* Gimball lock has occurred */
       {
       angle_x  = 0;                      /* Set X-axis angle to zero */

       trx      = mat[5];                 /* And calculate Z-axis angle */
       try      = mat[4];

       angle_z  = atan2( try, trx ) * RADIANS;
       }

     angle_x = clamp( angle_x, 0, 360 );  /* Clamp all angles to range */
     angle_y = clamp( angle_y, 0, 360 );
     angle_z = clamp( angle_z, 0, 360 );

     -----------------------------------