(({{Cos[ϕ] , -Sin[ϕ], 0}, {Sin[ϕ], Cos[ϕ] , 0}, {0, 0, 1}})).(({{Cos[θ] , 0, Sin[θ]}, {0, 1, 0}, {-Sin[θ], 0, Cos[θ]}})).(({{Cos[ψ] , -Sin[ψ], 0}, {Sin[ψ], Cos[ψ] , 0}, {0, 0, 1}}))

(({{Cos[ 281.004/180 *Pi] , -Sin[281.004/180 *Pi], 0}, {Sin[281.004/180 *Pi], Cos[281.004/180 *Pi] , 0}, {0, 0, 1}})).(({{Cos[94.078/180*Pi] , 0, Sin[94.078/180*Pi]}, {0, 1, 0}, {-Sin[94.078/180*Pi], 0, Cos[94.078/180*Pi]}})).(({{Cos[184.470/180*Pi] , -Sin[184.470/180*Pi], 0}, {Sin[184.470/180*Pi], Cos[184.470/180*Pi] , 0}, {0, 0, 1}}))

{{-0.06297127655395479`,-0.9796859936586356`,0.19039425453058476`},{-0.08447103667230994`,-0.18485637944549319`,-0.9791285732434782`},{0.9944341417573467`,-0.07773977622424437`,-0.07111444930486206`}}.{ 0.00261799,0.00261799, 0.9999931}

ArcTan[-0.9798269137384451/0.18766327450338463] /Pi *180.0 +360

ArcTan[-0.06871406193313985`/Sqrt[ 0.18766327450338463 ^2+(-0.9798269137384451) ^2]]/Pi *180.0

{{-0.06297127655395479`,-0.9796859936586356`,0.19039425453058476`},{-0.08447103667230994`,-0.18485637944549319`,-0.9791285732434782`},{0.9944341417573467`,-0.07773977622424437`,-0.07111444930486206`}}.{ 0.00261799,-0.00261799, 0.9999931}

ArcTan[-0.978859009432796` /0.19279289077246137`] /Pi *180.0 +360

ArcTan[-0.06830701801962523`/Sqrt[0.19279289077246137` ^2+(-0.978859009432796`) ^2]]/Pi *180.0

{{-0.06297127655395479`,-0.9796859936586356`,0.19039425453058476`},{-0.08447103667230994`,-0.18485637944549319`,-0.9791285732434782`},{0.9944341417573467`,-0.07773977622424437`,-0.07111444930486206`}}.{ -0.00261799,-0.00261799, 0.9999931}

ArcTan[-0.9784167207742006` /0.19312260711707235`] /Pi *180.0 +360

ArcTan[-0.07351385529718386`/Sqrt[0.19312260711707235`^2+(-0.9784167207742006`) ^2]]/Pi *180.0

{{-0.06297127655395479`,-0.9796859936586356`,0.19039425453058476`},{-0.08447103667230994`,-0.18485637944549319`,-0.9791285732434782`},{0.9944341417573467`,-0.07773977622424437`,-0.07111444930486206`}}.{ -0.00261799,0.00261799, 0.9999931}

ArcTan[-0.9793846250798496` /0.18799299084799562`] /Pi *180.0 +360

ArcTan[-0.07392089921069848/Sqrt[0.18799299084799562`^2+(-0.9793846250798496`) ^2]]/Pi *180.0